2021-08-15T18:17:29.492Z,1629051449.492 [CommandLine](IMPORTANT): got command restart logs
2021-08-15T18:21:32.537Z,1629051692.537 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T18:21:32.538Z,1629051692.538 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T18:21:32.538Z,1629051692.538 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T18:21:32.538Z,1629051692.538 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T18:21:32.989Z,1629051692.989 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T18:21:32.989Z,1629051692.989 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 26.952673 min 
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:21:33.369Z,1629051693.369 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-08-15T18:21:33.370Z,1629051693.370 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-08-15T18:21:33.370Z,1629051693.370 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:21:33.370Z,1629051693.370 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T18:21:35.345Z,1629051695.345 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,182137.00,A,4133.08783,N,07042.61464,W,0.253,216.20,150821,,,D*7A
2021-08-15T18:21:35.347Z,1629051695.347 [NAL9602](INFO): GPS fix at 20210815T182137: (41.551464, -70.710244)
2021-08-15T18:21:35.359Z,1629051695.359 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T18:21:35.359Z,1629051695.359 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T18:21:37.456Z,1629051697.456 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0075.lzma
2021-08-15T18:21:38.458Z,1629051698.458 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0075.lzma.bak
2021-08-15T18:21:38.458Z,1629051698.458 [DataOverHttps](INFO): SBD MOMSN=443563
2021-08-15T18:21:50.524Z,1629051710.524 [DataOverHttps](INFO): Sending 253 bytes from file Logs/20210815T181729/Courier0000.lzma
2021-08-15T18:21:50.704Z,1629051710.704 [NAL9602](INFO): SBD MO Status=0, MOMSN=24082, MT Status=0, MTMSN=0
2021-08-15T18:21:50.704Z,1629051710.704 [NAL9602](INFO): No messages in MT queue
2021-08-15T18:21:51.526Z,1629051711.526 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Courier0000.lzma.bak
2021-08-15T18:21:51.526Z,1629051711.526 [DataOverHttps](INFO): SBD MOMSN=443565
2021-08-15T18:22:03.578Z,1629051723.578 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T181729/Courier0003.lzma
2021-08-15T18:22:04.578Z,1629051724.578 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Courier0003.lzma.bak
2021-08-15T18:22:04.578Z,1629051724.578 [DataOverHttps](INFO): SBD MOMSN=443569
2021-08-15T18:22:15.624Z,1629051735.624 [DataOverHttps](INFO): Sending 205 bytes from file Logs/20210815T133512/Express0076.lzma
2021-08-15T18:22:16.626Z,1629051736.626 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0076.lzma.bak
2021-08-15T18:22:16.626Z,1629051736.626 [DataOverHttps](INFO): SBD MOMSN=443571
2021-08-15T18:22:21.412Z,1629051741.412 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T18:22:25.665Z,1629051745.665 [DataOverHttps](INFO): Sending 340 bytes from file Logs/20210815T181729/Express0001.lzma
2021-08-15T18:22:26.666Z,1629051746.666 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Express0001.lzma.bak
2021-08-15T18:22:26.666Z,1629051746.666 [DataOverHttps](INFO): SBD MOMSN=443579
2021-08-15T18:22:36.707Z,1629051756.707 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210815T181729/Express0004.lzma
2021-08-15T18:22:37.710Z,1629051757.710 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Express0004.lzma.bak
2021-08-15T18:22:37.710Z,1629051757.710 [DataOverHttps](INFO): SBD MOMSN=443583
2021-08-15T18:22:39.603Z,1629051759.603 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T18:22:39.604Z,1629051759.604 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T18:22:39.604Z,1629051759.604 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T18:24:30.162Z,1629051870.162 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T182431
2021-08-15T18:24:35.184Z,1629051875.184 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tf4j 1 2
2021-08-15T18:24:35.218Z,1629051875.218 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tf4j 1 2.000000
2021-08-15T18:24:35.218Z,1629051875.218 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tf4j
2021-08-15T18:24:35.219Z,1629051875.219 [CommandLine](IMPORTANT): Scheduled #31 (#1 of 2 with id='2tf4j'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-15T18:24:36.186Z,1629051876.186 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T182437
2021-08-15T18:24:40.204Z,1629051880.204 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tf4j 2 2
2021-08-15T18:24:40.261Z,1629051880.261 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tf4j 2 2.000000
2021-08-15T18:24:40.261Z,1629051880.261 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tf4j
2021-08-15T18:24:40.262Z,1629051880.262 [CommandLine](IMPORTANT): Scheduled #32 (#2 of 2 with id='2tf4j'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-15T18:24:40.421Z,1629051880.421 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T18:24:40.422Z,1629051880.422 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T18:24:40.572Z,1629051880.572 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-15T18:24:40.575Z,1629051880.575 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-15T18:24:40.577Z,1629051880.577 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-15T18:24:40.580Z,1629051880.580 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-15T18:24:40.582Z,1629051880.582 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-15T18:24:40.613Z,1629051880.613 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-15T18:24:40.615Z,1629051880.615 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-15T18:24:40.622Z,1629051880.622 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-15T18:24:40.625Z,1629051880.625 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-15T18:24:40.627Z,1629051880.627 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-15T18:24:40.642Z,1629051880.642 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-15T18:24:40.649Z,1629051880.649 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-15T18:24:40.651Z,1629051880.651 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-15T18:24:40.658Z,1629051880.658 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-15T18:24:40.664Z,1629051880.664 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-15T18:24:40.665Z,1629051880.665 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-15T18:24:41.036Z,1629051881.036 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-15T18:24:41.039Z,1629051881.039 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-15T18:24:41.041Z,1629051881.041 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-15T18:24:41.043Z,1629051881.043 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-15T18:24:41.045Z,1629051881.045 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-15T18:24:41.047Z,1629051881.047 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-15T18:24:41.050Z,1629051881.050 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-15T18:24:41.080Z,1629051881.080 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-15T18:24:41.082Z,1629051881.082 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-15T18:24:41.100Z,1629051881.100 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-15T18:24:41.105Z,1629051881.105 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-15T18:24:41.107Z,1629051881.107 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-15T18:24:41.109Z,1629051881.109 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-15T18:24:41.111Z,1629051881.111 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-15T18:24:41.123Z,1629051881.123 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-15T18:24:41.126Z,1629051881.126 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-15T18:24:41.129Z,1629051881.129 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-15T18:24:41.131Z,1629051881.131 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-15T18:24:41.149Z,1629051881.149 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-15T18:24:41.152Z,1629051881.152 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-15T18:24:41.154Z,1629051881.154 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-15T18:24:41.213Z,1629051881.213 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-15T18:24:41.215Z,1629051881.215 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-15T18:24:41.226Z,1629051881.226 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-15T18:24:41.236Z,1629051881.236 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-15T18:24:41.239Z,1629051881.239 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-15T18:24:41.257Z,1629051881.257 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-15T18:24:41.268Z,1629051881.268 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-15T18:24:41.271Z,1629051881.271 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-15T18:24:41.293Z,1629051881.293 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-15T18:24:41.304Z,1629051881.304 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-15T18:24:41.307Z,1629051881.307 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-15T18:24:41.315Z,1629051881.315 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-15T18:24:41.317Z,1629051881.317 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-15T18:24:41.324Z,1629051881.324 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-15T18:24:41.326Z,1629051881.326 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-15T18:24:41.341Z,1629051881.341 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-15T18:24:41.349Z,1629051881.349 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-15T18:24:41.358Z,1629051881.358 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-15T18:24:41.369Z,1629051881.369 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-15T18:24:41.386Z,1629051881.386 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-15T18:24:41.412Z,1629051881.412 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-15T18:24:41.414Z,1629051881.414 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-15T18:24:41.417Z,1629051881.417 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-15T18:24:41.419Z,1629051881.419 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-15T18:24:41.434Z,1629051881.434 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-15T18:24:41.441Z,1629051881.441 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-15T18:24:41.443Z,1629051881.443 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-15T18:24:41.450Z,1629051881.450 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-15T18:24:41.457Z,1629051881.457 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-15T18:24:41.459Z,1629051881.459 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-15T18:24:41.474Z,1629051881.474 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-15T18:24:41.481Z,1629051881.481 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-15T18:24:41.483Z,1629051881.483 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-15T18:24:41.490Z,1629051881.490 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-15T18:24:41.497Z,1629051881.497 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-15T18:24:41.499Z,1629051881.499 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-15T18:24:41.506Z,1629051881.506 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-15T18:24:41.513Z,1629051881.513 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-15T18:24:41.515Z,1629051881.515 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-15T18:24:41.522Z,1629051881.522 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-15T18:24:41.529Z,1629051881.529 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-15T18:24:41.531Z,1629051881.531 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-15T18:24:41.542Z,1629051881.542 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-15T18:24:41.644Z,1629051881.644 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T18:24:41.685Z,1629051881.685 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T18:24:41.734Z,1629051881.734 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T18:24:41.754Z,1629051881.754 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T18:24:41.797Z,1629051881.797 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T18:24:41.822Z,1629051881.822 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T18:24:41.853Z,1629051881.853 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T18:24:41.877Z,1629051881.877 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T18:24:41.901Z,1629051881.901 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T18:24:41.930Z,1629051881.930 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T18:24:41.941Z,1629051881.941 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T18:24:41.943Z,1629051881.943 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T18:24:41.952Z,1629051881.952 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T18:24:41.963Z,1629051881.963 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T18:24:42.017Z,1629051882.017 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T18:24:42.047Z,1629051882.047 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-15T18:24:42.101Z,1629051882.101 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-15T18:24:42.104Z,1629051882.104 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-15T18:24:42.106Z,1629051882.106 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-15T18:24:42.109Z,1629051882.109 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-15T18:24:42.111Z,1629051882.111 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-15T18:24:42.113Z,1629051882.113 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-15T18:24:42.116Z,1629051882.116 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-15T18:24:42.122Z,1629051882.122 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-15T18:24:42.138Z,1629051882.138 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-15T18:24:42.184Z,1629051882.184 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-15T18:24:42.193Z,1629051882.193 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-15T18:24:42.201Z,1629051882.201 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-15T18:24:42.237Z,1629051882.237 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-15T18:24:42.372Z,1629051882.372 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-15T18:24:42.374Z,1629051882.374 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-15T18:24:42.401Z,1629051882.401 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-15T18:24:42.403Z,1629051882.403 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-15T18:24:42.410Z,1629051882.410 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-15T18:24:42.444Z,1629051882.444 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-15T18:24:42.447Z,1629051882.447 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-15T18:24:42.461Z,1629051882.461 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-15T18:24:42.477Z,1629051882.477 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-15T18:24:42.494Z,1629051882.494 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-15T18:24:42.501Z,1629051882.501 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-15T18:24:42.503Z,1629051882.503 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-15T18:24:42.506Z,1629051882.506 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-15T18:24:42.516Z,1629051882.516 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-15T18:24:42.518Z,1629051882.518 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-15T18:24:42.525Z,1629051882.525 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-15T18:24:42.527Z,1629051882.527 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-15T18:24:42.534Z,1629051882.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-15T18:24:42.541Z,1629051882.541 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-15T18:24:42.543Z,1629051882.543 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-15T18:24:42.554Z,1629051882.554 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-15T18:24:42.561Z,1629051882.561 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-15T18:24:42.563Z,1629051882.563 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-15T18:24:42.574Z,1629051882.574 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-15T18:24:42.581Z,1629051882.581 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-15T18:24:42.583Z,1629051882.583 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-15T18:24:42.598Z,1629051882.598 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T18:24:42.642Z,1629051882.642 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T18:24:42.647Z,1629051882.647 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T18:24:42.662Z,1629051882.662 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T18:24:42.663Z,1629051882.663 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T18:24:42.681Z,1629051882.681 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T18:24:42.696Z,1629051882.696 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T18:24:42.739Z,1629051882.739 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-15T18:24:42.753Z,1629051882.753 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-15T18:24:42.772Z,1629051882.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-15T18:24:42.772Z,1629051882.772 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T18:24:42.849Z,1629051882.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-15T18:24:42.856Z,1629051882.856 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-15T18:24:42.869Z,1629051882.869 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-15T18:24:42.905Z,1629051882.905 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-15T18:24:42.911Z,1629051882.911 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-15T18:24:42.984Z,1629051882.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-15T18:24:43.002Z,1629051883.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-15T18:24:43.010Z,1629051883.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T18:24:43.011Z,1629051883.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T18:24:43.014Z,1629051883.014 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-15T18:24:43.021Z,1629051883.021 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-15T18:24:43.059Z,1629051883.059 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-15T18:24:43.062Z,1629051883.062 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-15T18:24:43.065Z,1629051883.065 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-15T18:24:43.067Z,1629051883.067 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-15T18:24:43.073Z,1629051883.073 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-15T18:24:43.125Z,1629051883.125 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-15T18:24:43.125Z,1629051883.125 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T18:24:43.135Z,1629051883.135 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-15T18:24:43.135Z,1629051883.135 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T18:24:43.228Z,1629051883.228 [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>


2021-08-15T18:24:43.229Z,1629051883.229 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T18:24:56.981Z,1629051896.981 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 150.000000 minute
2021-08-15T18:24:56.982Z,1629051896.982 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-15T18:24:56.982Z,1629051896.982 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-15T18:24:56.983Z,1629051896.983 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-15T18:25:03.183Z,1629051903.183 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-15T18:25:03.184Z,1629051903.184 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-15T18:25:03.184Z,1629051903.184 [CommandLine](IMPORTANT): got command run
2021-08-15T18:25:03.190Z,1629051903.190 [CommandLine](IMPORTANT): Running 
2021-08-15T18:25:03.440Z,1629051903.440 [DefaultWithUndock] Stopped
2021-08-15T18:25:03.440Z,1629051903.440 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-15T18:25:03.440Z,1629051903.440 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T18:25:03.441Z,1629051903.441 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T18:25:03.441Z,1629051903.441 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-15T18:25:03.442Z,1629051903.442 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-15T18:25:03.443Z,1629051903.443 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T18:25:03.443Z,1629051903.443 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-15T18:25:03.443Z,1629051903.443 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T18:25:03.443Z,1629051903.443 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T18:25:03.443Z,1629051903.443 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T18:25:03.445Z,1629051903.445 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-15T18:25:03.445Z,1629051903.445 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T18:25:03.445Z,1629051903.445 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T18:25:03.445Z,1629051903.445 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T18:25:03.445Z,1629051903.445 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-15T18:25:03.446Z,1629051903.446 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T18:25:03.446Z,1629051903.446 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T18:25:03.446Z,1629051903.446 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T18:25:03.447Z,1629051903.447 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-15T18:25:03.447Z,1629051903.447 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T18:25:03.447Z,1629051903.447 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T18:25:03.447Z,1629051903.447 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T18:25:03.449Z,1629051903.449 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-15T18:25:03.449Z,1629051903.449 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T18:25:03.449Z,1629051903.449 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T18:25:03.449Z,1629051903.449 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T18:25:03.450Z,1629051903.450 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-15T18:25:03.450Z,1629051903.450 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T18:25:03.450Z,1629051903.450 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T18:25:03.450Z,1629051903.450 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T18:25:03.451Z,1629051903.451 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-15T18:25:03.451Z,1629051903.451 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T18:25:03.451Z,1629051903.451 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T18:25:03.452Z,1629051903.452 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T18:25:03.453Z,1629051903.453 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-15T18:25:03.453Z,1629051903.453 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T18:25:03.454Z,1629051903.454 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T18:25:03.454Z,1629051903.454 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T18:25:03.454Z,1629051903.454 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-15T18:25:03.454Z,1629051903.454 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T18:25:03.455Z,1629051903.455 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T18:25:03.456Z,1629051903.456 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T18:25:03.457Z,1629051903.457 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T18:25:03.458Z,1629051903.458 [lineCaptureDepth:C] Running Loop=1
2021-08-15T18:25:03.459Z,1629051903.459 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T18:25:03.459Z,1629051903.459 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T18:25:03.459Z,1629051903.459 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T18:25:03.460Z,1629051903.460 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:C] Stopped
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:D] Running Loop=1
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T18:25:03.461Z,1629051903.461 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T18:25:03.462Z,1629051903.462 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T18:25:03.462Z,1629051903.462 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T18:25:03.462Z,1629051903.462 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T18:25:03.463Z,1629051903.463 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-15T18:25:03.464Z,1629051903.464 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T18:25:03.465Z,1629051903.465 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T18:25:03.466Z,1629051903.466 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-15T18:25:03.467Z,1629051903.467 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T18:25:03.467Z,1629051903.467 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-15T18:25:03.467Z,1629051903.467 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T18:25:03.467Z,1629051903.467 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T18:25:03.468Z,1629051903.468 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T18:25:03.469Z,1629051903.469 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-15T18:25:03.469Z,1629051903.469 [lineCaptureDepth:Science:F] Stopped
2021-08-15T18:25:03.469Z,1629051903.469 [lineCaptureDepth:Science:E] Stopped
2021-08-15T18:25:03.469Z,1629051903.469 [lineCaptureDepth:Science:D] Stopped
2021-08-15T18:25:03.469Z,1629051903.469 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T18:25:03.470Z,1629051903.470 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-15T18:25:03.470Z,1629051903.470 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-15T18:25:03.470Z,1629051903.470 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T18:25:03.471Z,1629051903.471 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-15T18:25:03.471Z,1629051903.471 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-15T18:25:03.471Z,1629051903.471 [lineCaptureDepth:Science:A] Stopped
2021-08-15T18:25:03.804Z,1629051903.804 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-15T18:25:03.833Z,1629051903.833 [lineCaptureDepth:D] Stopped
2021-08-15T18:25:03.834Z,1629051903.834 [lineCaptureDepth:E] Running Loop=1
2021-08-15T18:25:04.240Z,1629051904.240 [lineCaptureDepth:E] Stopped
2021-08-15T18:25:04.240Z,1629051904.240 [lineCaptureDepth:G] Running Loop=1
2021-08-15T18:25:04.648Z,1629051904.648 [lineCaptureDepth:G] Stopped
2021-08-15T18:25:04.649Z,1629051904.649 [lineCaptureDepth:H] Running Loop=1
2021-08-15T18:25:05.048Z,1629051905.048 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:1773.053833
2021-08-15T18:25:05.081Z,1629051905.081 [lineCaptureDepth:H] Stopped
2021-08-15T18:25:05.081Z,1629051905.081 [lineCaptureDepth:J] Running Loop=1
2021-08-15T18:25:05.480Z,1629051905.480 [lineCaptureDepth:J] Stopped
2021-08-15T18:25:05.480Z,1629051905.480 [lineCaptureDepth:M] Running Loop=1
2021-08-15T18:25:05.843Z,1629051905.843 [lineCaptureDepth:M] Stopped
2021-08-15T18:25:05.843Z,1629051905.843 [lineCaptureDepth:N] Running Loop=1
2021-08-15T18:25:06.256Z,1629051906.256 [lineCaptureDepth:N] Stopped
2021-08-15T18:25:06.256Z,1629051906.256 [lineCaptureDepth:O] Running Loop=1
2021-08-15T18:25:06.256Z,1629051906.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:06.641Z,1629051906.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:06.641Z,1629051906.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:06.641Z,1629051906.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:06.642Z,1629051906.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:06.699Z,1629051906.699 [lineCaptureDepth:O] Stopped
2021-08-15T18:25:06.699Z,1629051906.699 [lineCaptureDepth:Lap] Running Loop=1
2021-08-15T18:25:06.699Z,1629051906.699 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T18:25:06.699Z,1629051906.699 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T18:25:07.045Z,1629051907.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00ABC,186,80,80,86,FF
2021-08-15T18:25:07.045Z,1629051907.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:07.046Z,1629051907.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:07.047Z,1629051907.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:07.173Z,1629051907.173 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T18:25:07.173Z,1629051907.173 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T18:25:07.173Z,1629051907.173 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T18:25:07.453Z,1629051907.453 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-15T18:25:07.465Z,1629051907.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T18:25:07.507Z,1629051907.507 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T18:25:07.508Z,1629051907.508 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T18:25:07.509Z,1629051907.509 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T18:25:07.510Z,1629051907.510 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T18:25:07.511Z,1629051907.511 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T18:25:07.511Z,1629051907.511 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T18:25:07.511Z,1629051907.511 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T18:25:07.511Z,1629051907.511 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T18:25:07.516Z,1629051907.516 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T18:25:07.516Z,1629051907.516 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T18:25:07.884Z,1629051907.884 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T18:25:07.884Z,1629051907.884 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T18:25:08.259Z,1629051908.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,0181E,189,80,80,7C,FF
2021-08-15T18:25:08.259Z,1629051908.259 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:08.262Z,1629051908.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182508.16*5F

2021-08-15T18:25:08.296Z,1629051908.296 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T18:25:08.296Z,1629051908.296 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T18:25:08.709Z,1629051908.709 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T18:25:08.709Z,1629051908.709 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T18:25:09.238Z,1629051909.238 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T18:25:09.239Z,1629051909.239 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T18:25:09.240Z,1629051909.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T18:25:09.240Z,1629051909.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T18:25:09.240Z,1629051909.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T18:25:09.240Z,1629051909.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T18:25:09.240Z,1629051909.240 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T18:25:09.241Z,1629051909.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T18:25:09.242Z,1629051909.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T18:25:09.242Z,1629051909.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T18:25:09.545Z,1629051909.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T18:25:09.546Z,1629051909.546 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T18:25:09.547Z,1629051909.547 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T18:25:09.881Z,1629051909.881 [PowerOnly](INFO): Powering up loadControl
2021-08-15T18:25:11.167Z,1629051911.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:11.517Z,1629051911.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:11.517Z,1629051911.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:11.517Z,1629051911.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:11.518Z,1629051911.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:11.925Z,1629051911.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,0181E,189,80,80,7C,FF
2021-08-15T18:25:11.925Z,1629051911.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:11.926Z,1629051911.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:11.927Z,1629051911.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:12.333Z,1629051912.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:12.783Z,1629051912.783 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T18:25:13.149Z,1629051913.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,01828,189,80,80,94,FF
2021-08-15T18:25:13.150Z,1629051913.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:13.153Z,1629051913.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182513.04*56

2021-08-15T18:25:13.219Z,1629051913.219 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T18:25:16.159Z,1629051916.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:16.366Z,1629051916.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:16.366Z,1629051916.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:16.366Z,1629051916.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:16.367Z,1629051916.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:16.773Z,1629051916.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,01828,189,80,80,94,FF
2021-08-15T18:25:16.773Z,1629051916.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:16.774Z,1629051916.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:16.775Z,1629051916.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:17.193Z,1629051917.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:17.997Z,1629051917.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D37,000,01833,18A,80,80,90,FF
2021-08-15T18:25:17.998Z,1629051917.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:18.001Z,1629051918.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182517.89*57

2021-08-15T18:25:20.829Z,1629051920.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:21.217Z,1629051921.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:21.217Z,1629051921.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:21.217Z,1629051921.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:21.218Z,1629051921.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:21.617Z,1629051921.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D37,000,01833,18A,80,80,90,FF
2021-08-15T18:25:21.617Z,1629051921.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:21.618Z,1629051921.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:21.619Z,1629051921.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:22.029Z,1629051922.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:22.857Z,1629051922.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,0183F,188,80,80,40,FF
2021-08-15T18:25:22.857Z,1629051922.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:22.860Z,1629051922.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182522.74*53

2021-08-15T18:25:25.706Z,1629051925.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:26.061Z,1629051926.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:26.061Z,1629051926.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:26.061Z,1629051926.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:26.062Z,1629051926.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:26.469Z,1629051926.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,0183F,188,80,80,40,FF
2021-08-15T18:25:26.469Z,1629051926.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:26.470Z,1629051926.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:26.471Z,1629051926.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:26.877Z,1629051926.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:27.705Z,1629051927.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,0184F,186,80,80,74,FF
2021-08-15T18:25:27.706Z,1629051927.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:27.709Z,1629051927.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182527.59*59

2021-08-15T18:25:30.537Z,1629051930.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:30.909Z,1629051930.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:30.909Z,1629051930.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:30.909Z,1629051930.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:30.910Z,1629051930.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:31.317Z,1629051931.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,0184F,186,80,80,74,FF
2021-08-15T18:25:31.317Z,1629051931.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:31.318Z,1629051931.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:31.319Z,1629051931.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:31.736Z,1629051931.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:32.545Z,1629051932.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,01861,186,80,80,69,FF
2021-08-15T18:25:32.546Z,1629051932.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:32.549Z,1629051932.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182532.44*51

2021-08-15T18:25:33.390Z,1629051933.390 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 336.96 m. Transitioning DDM to standby.
2021-08-15T18:25:35.417Z,1629051935.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:35.785Z,1629051935.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:35.785Z,1629051935.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:35.785Z,1629051935.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:35.786Z,1629051935.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:35.846Z,1629051935.846 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T18:25:36.178Z,1629051936.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,01861,186,80,80,69,FF
2021-08-15T18:25:36.178Z,1629051936.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:36.178Z,1629051936.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:36.179Z,1629051936.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:36.295Z,1629051936.295 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T18:25:36.296Z,1629051936.296 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T18:25:36.296Z,1629051936.296 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T18:25:36.541Z,1629051936.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:36.598Z,1629051936.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T18:25:36.598Z,1629051936.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T18:25:36.598Z,1629051936.598 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T18:25:37.059Z,1629051937.059 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T18:25:37.059Z,1629051937.059 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T18:25:37.059Z,1629051937.059 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T18:25:37.059Z,1629051937.059 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T18:25:37.060Z,1629051937.060 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T18:25:37.369Z,1629051937.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD5,000,01870,189,80,80,8A,FF
2021-08-15T18:25:37.370Z,1629051937.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:37.378Z,1629051937.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182537.30*57

2021-08-15T18:25:37.392Z,1629051937.392 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T18:25:37.393Z,1629051937.393 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T18:25:37.394Z,1629051937.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T18:25:37.394Z,1629051937.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T18:25:37.394Z,1629051937.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T18:25:37.394Z,1629051937.394 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T18:25:37.395Z,1629051937.395 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T18:25:37.395Z,1629051937.395 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T18:25:37.396Z,1629051937.396 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T18:25:37.396Z,1629051937.396 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 336.959991 m 
2021-08-15T18:25:37.397Z,1629051937.397 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T18:25:37.397Z,1629051937.397 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T18:25:37.398Z,1629051937.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T18:25:37.398Z,1629051937.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T18:25:37.398Z,1629051937.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T18:25:37.398Z,1629051937.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T18:25:37.795Z,1629051937.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T18:25:37.795Z,1629051937.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T18:25:37.795Z,1629051937.795 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T18:25:37.796Z,1629051937.796 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T18:25:37.797Z,1629051937.797 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T18:25:38.185Z,1629051938.185 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T18:25:38.185Z,1629051938.185 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T18:25:38.185Z,1629051938.185 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T18:25:38.186Z,1629051938.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T18:25:38.187Z,1629051938.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T18:25:38.188Z,1629051938.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T18:25:38.188Z,1629051938.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T18:25:38.189Z,1629051938.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T18:25:38.189Z,1629051938.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T18:25:38.189Z,1629051938.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T18:25:38.189Z,1629051938.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T18:25:38.189Z,1629051938.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T18:25:38.190Z,1629051938.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T18:25:38.190Z,1629051938.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T18:25:38.190Z,1629051938.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 1200.00 sec.
2021-08-15T18:25:38.191Z,1629051938.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](FAULT): Got invalid Pro-Nav gain. Will use Pure Pursuit guidance.
2021-08-15T18:25:38.191Z,1629051938.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T18:25:38.191Z,1629051938.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T18:25:38.191Z,1629051938.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T18:25:38.191Z,1629051938.191 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T18:25:38.192Z,1629051938.192 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T18:25:38.592Z,1629051938.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.859985 m, bearing: 57.201055 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T18:25:38.593Z,1629051938.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 57.201055deg and heading rate command to 0 deg/s.
2021-08-15T18:25:40.223Z,1629051940.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:40.615Z,1629051940.615 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:40.615Z,1629051940.615 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:40.616Z,1629051940.616 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:40.617Z,1629051940.617 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:41.029Z,1629051941.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD5,000,01870,189,80,80,8A,FF
2021-08-15T18:25:41.029Z,1629051941.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:41.030Z,1629051941.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:41.031Z,1629051941.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:41.428Z,1629051941.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:42.245Z,1629051942.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,0187D,189,80,80,74,FF
2021-08-15T18:25:42.246Z,1629051942.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:42.249Z,1629051942.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182542.15*52

2021-08-15T18:25:42.675Z,1629051942.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.639984 m, bearing: 56.517138 deg, deltaT: 4.853164 s, approachRate: 0.160720 m/s, LOS rate: -0.140922 deg/s, posRepo size: 2
2021-08-15T18:25:42.677Z,1629051942.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.140922 deg/s. Setting heading cmd to target bearing of 56.517138deg and heading rate command to 0 deg/s.
2021-08-15T18:25:45.099Z,1629051945.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:45.457Z,1629051945.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:45.457Z,1629051945.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:45.457Z,1629051945.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:45.458Z,1629051945.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:45.865Z,1629051945.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,0187D,189,80,80,74,FF
2021-08-15T18:25:45.865Z,1629051945.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:45.866Z,1629051945.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:45.867Z,1629051945.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:46.312Z,1629051946.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:47.117Z,1629051947.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,01881,189,80,80,7F,FF
2021-08-15T18:25:47.118Z,1629051947.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:47.121Z,1629051947.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182546.98*53

2021-08-15T18:25:47.547Z,1629051947.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.879974 m, bearing: 54.993227 deg, deltaT: 4.909271 s, approachRate: 0.048885 m/s, LOS rate: -0.310415 deg/s, posRepo size: 3
2021-08-15T18:25:49.981Z,1629051949.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:50.329Z,1629051950.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:50.329Z,1629051950.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:50.329Z,1629051950.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:50.330Z,1629051950.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:50.741Z,1629051950.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,01881,189,80,80,7F,FF
2021-08-15T18:25:50.741Z,1629051950.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:50.742Z,1629051950.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:50.743Z,1629051950.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:51.146Z,1629051951.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:51.168Z,1629051951.168 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T18:25:52.005Z,1629051952.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B9D,000,01871,189,80,80,87,FF
2021-08-15T18:25:52.006Z,1629051952.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:52.013Z,1629051952.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182551.86*5A

2021-08-15T18:25:52.407Z,1629051952.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.919983 m, bearing: 60.764259 deg, deltaT: 4.883598 s, approachRate: -0.196575 m/s, LOS rate: 1.181717 deg/s, posRepo size: 4
2021-08-15T18:25:54.815Z,1629051954.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:25:55.185Z,1629051955.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:25:55.185Z,1629051955.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:25:55.185Z,1629051955.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:25:55.186Z,1629051955.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:25:55.581Z,1629051955.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B9D,000,01871,189,80,80,87,FF
2021-08-15T18:25:55.581Z,1629051955.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:25:55.582Z,1629051955.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:25:55.583Z,1629051955.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:25:56.048Z,1629051956.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:25:56.825Z,1629051956.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7A,000,01860,189,80,80,8C,FF
2021-08-15T18:25:56.826Z,1629051956.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:25:56.829Z,1629051956.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182556.70*54

2021-08-15T18:25:57.322Z,1629051957.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 336.899994 m, bearing: 53.490879 deg, deltaT: 4.813231 s, approachRate: -0.211914 m/s, LOS rate: -1.511122 deg/s, posRepo size: 4
2021-08-15T18:25:59.687Z,1629051959.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:00.057Z,1629051960.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:00.057Z,1629051960.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:00.057Z,1629051960.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:00.058Z,1629051960.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:00.456Z,1629051960.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7A,000,01860,189,80,80,8C,FF
2021-08-15T18:26:00.456Z,1629051960.456 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:00.457Z,1629051960.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:00.459Z,1629051960.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:00.883Z,1629051960.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:01.705Z,1629051961.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,01847,18A,80,80,63,FF
2021-08-15T18:26:01.706Z,1629051961.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:01.733Z,1629051961.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182601.58*5F

2021-08-15T18:26:02.108Z,1629051962.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 335.399994 m, bearing: 58.648123 deg, deltaT: 4.898770 s, approachRate: -0.306199 m/s, LOS rate: 1.052763 deg/s, posRepo size: 4
2021-08-15T18:26:04.519Z,1629051964.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:04.952Z,1629051964.952 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:04.953Z,1629051964.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:04.954Z,1629051964.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:04.955Z,1629051964.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:05.355Z,1629051965.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,01847,18A,80,80,63,FF
2021-08-15T18:26:05.355Z,1629051965.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:05.372Z,1629051965.372 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:05.375Z,1629051965.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:05.758Z,1629051965.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:06.581Z,1629051966.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,01825,186,80,80,8E,FF
2021-08-15T18:26:06.582Z,1629051966.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:06.585Z,1629051966.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182606.49*58

2021-08-15T18:26:07.058Z,1629051967.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.360016 m, bearing: 55.892613 deg, deltaT: 4.820998 s, approachRate: -0.423144 m/s, LOS rate: -0.571564 deg/s, posRepo size: 4
2021-08-15T18:26:09.441Z,1629051969.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:09.797Z,1629051969.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:09.797Z,1629051969.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:09.797Z,1629051969.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:09.798Z,1629051969.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:10.197Z,1629051970.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,01825,186,80,80,8E,FF
2021-08-15T18:26:10.197Z,1629051970.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:10.198Z,1629051970.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:10.199Z,1629051970.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:10.656Z,1629051970.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:11.457Z,1629051971.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,01800,186,80,80,9E,FF
2021-08-15T18:26:11.458Z,1629051971.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:11.461Z,1629051971.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182611.32*52

2021-08-15T18:26:11.906Z,1629051971.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 331.139984 m, bearing: 55.358956 deg, deltaT: 4.880278 s, approachRate: -0.454899 m/s, LOS rate: -0.109350 deg/s, posRepo size: 4
2021-08-15T18:26:14.331Z,1629051974.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:14.689Z,1629051974.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:14.689Z,1629051974.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:14.689Z,1629051974.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:14.690Z,1629051974.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:15.097Z,1629051975.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,01800,186,80,80,9E,FF
2021-08-15T18:26:15.098Z,1629051975.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:15.098Z,1629051975.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:15.099Z,1629051975.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:15.500Z,1629051975.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:16.329Z,1629051976.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,017DC,187,80,80,8D,FF
2021-08-15T18:26:16.330Z,1629051976.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:16.333Z,1629051976.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182616.22*54

2021-08-15T18:26:16.741Z,1629051976.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.980011 m, bearing: 56.431334 deg, deltaT: 4.926624 s, approachRate: -0.438429 m/s, LOS rate: 0.217670 deg/s, posRepo size: 4
2021-08-15T18:26:19.193Z,1629051979.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:19.553Z,1629051979.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:19.553Z,1629051979.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:19.553Z,1629051979.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:19.554Z,1629051979.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:19.950Z,1629051979.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,017DC,187,80,80,8D,FF
2021-08-15T18:26:19.950Z,1629051979.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:19.950Z,1629051979.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:19.952Z,1629051979.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:20.384Z,1629051980.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:21.189Z,1629051981.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,017B5,186,80,80,62,FF
2021-08-15T18:26:21.190Z,1629051981.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:21.193Z,1629051981.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182621.07*57

2021-08-15T18:26:21.604Z,1629051981.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 326.639984 m, bearing: 54.950316 deg, deltaT: 4.864412 s, approachRate: -0.481050 m/s, LOS rate: -0.304460 deg/s, posRepo size: 4
2021-08-15T18:26:23.999Z,1629051983.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:24.405Z,1629051984.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:24.406Z,1629051984.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:24.406Z,1629051984.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:24.421Z,1629051984.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:24.789Z,1629051984.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,017B5,186,80,80,62,FF
2021-08-15T18:26:24.789Z,1629051984.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:24.789Z,1629051984.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:24.791Z,1629051984.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:25.240Z,1629051985.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:26.037Z,1629051986.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,01786,184,80,80,5B,FF
2021-08-15T18:26:26.038Z,1629051986.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:26.041Z,1629051986.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182625.91*5C

2021-08-15T18:26:26.458Z,1629051986.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.819977 m, bearing: 55.276550 deg, deltaT: 4.820110 s, approachRate: -0.585050 m/s, LOS rate: 0.067682 deg/s, posRepo size: 4
2021-08-15T18:26:28.902Z,1629051988.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:29.289Z,1629051989.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:29.289Z,1629051989.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:29.289Z,1629051989.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:29.290Z,1629051989.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:29.675Z,1629051989.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,01786,184,80,80,5B,FF
2021-08-15T18:26:29.675Z,1629051989.675 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:29.675Z,1629051989.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:29.677Z,1629051989.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:30.080Z,1629051990.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:30.909Z,1629051990.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,01761,187,80,80,97,FF
2021-08-15T18:26:30.910Z,1629051990.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:30.918Z,1629051990.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182630.80*58

2021-08-15T18:26:31.391Z,1629051991.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.599976 m, bearing: 60.813709 deg, deltaT: 4.925472 s, approachRate: -0.450718 m/s, LOS rate: 1.124189 deg/s, posRepo size: 4
2021-08-15T18:26:33.813Z,1629051993.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:34.153Z,1629051994.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:34.153Z,1629051994.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:34.153Z,1629051994.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:34.154Z,1629051994.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:34.553Z,1629051994.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,01761,187,80,80,97,FF
2021-08-15T18:26:34.553Z,1629051994.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:34.554Z,1629051994.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:34.555Z,1629051994.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:34.998Z,1629051994.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:35.789Z,1629051995.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,01737,186,80,80,8C,FF
2021-08-15T18:26:35.789Z,1629051995.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:35.808Z,1629051995.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182635.67*54

2021-08-15T18:26:36.203Z,1629051996.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.079987 m, bearing: 57.448400 deg, deltaT: 4.874222 s, approachRate: -0.517003 m/s, LOS rate: -0.690430 deg/s, posRepo size: 4
2021-08-15T18:26:38.603Z,1629051998.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:39.041Z,1629051999.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:39.041Z,1629051999.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:39.041Z,1629051999.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:39.042Z,1629051999.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:39.419Z,1629051999.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,01737,186,80,80,8C,FF
2021-08-15T18:26:39.421Z,1629051999.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:39.423Z,1629051999.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:39.424Z,1629051999.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:39.809Z,1629051999.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:40.637Z,1629052000.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,01710,184,80,80,89,FF
2021-08-15T18:26:40.638Z,1629052000.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:40.641Z,1629052000.641 [Micromodem](INFO): Nmea in: $SNTTA,0.213720,,,,182640.54*4D

2021-08-15T18:26:41.077Z,1629052001.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.739990 m, bearing: 54.263736 deg, deltaT: 4.795956 s, approachRate: -0.487910 m/s, LOS rate: -0.664031 deg/s, posRepo size: 4
2021-08-15T18:26:41.441Z,1629052001.441 [PowerOnly](INFO): Powering down loadControl
2021-08-15T18:26:43.479Z,1629052003.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:43.843Z,1629052003.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:43.843Z,1629052003.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:43.843Z,1629052003.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:43.844Z,1629052003.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:44.241Z,1629052004.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,01710,184,80,80,89,FF
2021-08-15T18:26:44.241Z,1629052004.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:44.242Z,1629052004.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:44.243Z,1629052004.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:44.660Z,1629052004.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:45.143Z,1629052005.143 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-15T18:26:45.509Z,1629052005.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,016E4,184,80,80,98,FF
2021-08-15T18:26:45.510Z,1629052005.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:45.513Z,1629052005.513 [Micromodem](INFO): Nmea in: $SNTTA,,0.289715,,,182645.36*49

2021-08-15T18:26:45.912Z,1629052005.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.100006 m, bearing: 54.578679 deg, deltaT: 4.887244 s, approachRate: -0.540178 m/s, LOS rate: 0.064442 deg/s, posRepo size: 4
2021-08-15T18:26:48.314Z,1629052008.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:48.693Z,1629052008.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:48.693Z,1629052008.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:48.694Z,1629052008.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:48.695Z,1629052008.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:49.089Z,1629052009.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,016E4,184,80,80,98,FF
2021-08-15T18:26:49.089Z,1629052009.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:49.090Z,1629052009.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:49.091Z,1629052009.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:49.518Z,1629052009.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:50.326Z,1629052010.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,016BD,187,80,80,A2,FF
2021-08-15T18:26:50.327Z,1629052010.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:50.331Z,1629052010.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182650.21*55

2021-08-15T18:26:50.744Z,1629052010.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 311.759979 m, bearing: 57.539385 deg, deltaT: 4.823383 s, approachRate: -0.485142 m/s, LOS rate: 0.613824 deg/s, posRepo size: 4
2021-08-15T18:26:53.190Z,1629052013.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:53.539Z,1629052013.539 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:53.539Z,1629052013.539 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:53.539Z,1629052013.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:53.540Z,1629052013.540 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:53.945Z,1629052013.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,016BD,187,80,80,A2,FF
2021-08-15T18:26:53.945Z,1629052013.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:53.946Z,1629052013.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:53.947Z,1629052013.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:54.355Z,1629052014.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:26:55.171Z,1629052015.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,01698,186,80,80,A4,FF
2021-08-15T18:26:55.173Z,1629052015.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:26:55.177Z,1629052015.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182655.07*54

2021-08-15T18:26:55.588Z,1629052015.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.540009 m, bearing: 58.790478 deg, deltaT: 4.906517 s, approachRate: -0.452453 m/s, LOS rate: 0.254986 deg/s, posRepo size: 4
2021-08-15T18:26:58.004Z,1629052018.004 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:26:58.397Z,1629052018.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:26:58.397Z,1629052018.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:26:58.397Z,1629052018.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:26:58.398Z,1629052018.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:26:58.785Z,1629052018.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,01698,186,80,80,A4,FF
2021-08-15T18:26:58.785Z,1629052018.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:26:58.786Z,1629052018.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:26:58.787Z,1629052018.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:26:59.236Z,1629052019.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:00.045Z,1629052020.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,0166F,187,80,80,8B,FF
2021-08-15T18:27:00.047Z,1629052020.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:00.071Z,1629052020.071 [Micromodem](INFO): Nmea in: $SNTTA,0.206781,,,,182659.91*43

2021-08-15T18:27:00.469Z,1629052020.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.079987 m, bearing: 55.985633 deg, deltaT: 4.836823 s, approachRate: -0.508603 m/s, LOS rate: -0.579894 deg/s, posRepo size: 4
2021-08-15T18:27:02.902Z,1629052022.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:03.249Z,1629052023.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:03.249Z,1629052023.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:03.249Z,1629052023.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:03.250Z,1629052023.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:03.661Z,1629052023.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,0166F,187,80,80,8B,FF
2021-08-15T18:27:03.661Z,1629052023.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:03.662Z,1629052023.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:03.663Z,1629052023.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:04.079Z,1629052024.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:04.886Z,1629052024.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,01645,186,80,80,71,FF
2021-08-15T18:27:04.886Z,1629052024.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:04.889Z,1629052024.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182704.78*59

2021-08-15T18:27:05.333Z,1629052025.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 304.559998 m, bearing: 57.810400 deg, deltaT: 4.832981 s, approachRate: -0.521415 m/s, LOS rate: 0.377566 deg/s, posRepo size: 4
2021-08-15T18:27:07.724Z,1629052027.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:08.109Z,1629052028.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:08.109Z,1629052028.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:08.109Z,1629052028.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:08.110Z,1629052028.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:08.513Z,1629052028.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,01645,186,80,80,71,FF
2021-08-15T18:27:08.513Z,1629052028.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:08.514Z,1629052028.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:08.515Z,1629052028.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:08.985Z,1629052028.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:09.729Z,1629052029.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9E,000,01622,186,80,80,AA,FF
2021-08-15T18:27:09.729Z,1629052029.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:09.732Z,1629052029.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182709.63*5E

2021-08-15T18:27:10.162Z,1629052030.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.459991 m, bearing: 57.242511 deg, deltaT: 4.773336 s, approachRate: -0.439945 m/s, LOS rate: -0.118971 deg/s, posRepo size: 4
2021-08-15T18:27:12.570Z,1629052032.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:13.001Z,1629052033.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:13.001Z,1629052033.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:13.002Z,1629052033.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:13.003Z,1629052033.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:13.346Z,1629052033.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9E,000,01622,186,80,80,AA,FF
2021-08-15T18:27:13.346Z,1629052033.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:13.346Z,1629052033.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:13.350Z,1629052033.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:13.752Z,1629052033.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:14.581Z,1629052034.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,015FC,185,80,80,97,FF
2021-08-15T18:27:14.581Z,1629052034.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:14.584Z,1629052034.584 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182714.47*54

2021-08-15T18:27:15.112Z,1629052035.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.179993 m, bearing: 56.951678 deg, deltaT: 4.871819 s, approachRate: -0.467997 m/s, LOS rate: -0.059697 deg/s, posRepo size: 4
2021-08-15T18:27:17.157Z,1629052037.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:17.397Z,1629052037.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:17.397Z,1629052037.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:17.397Z,1629052037.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:17.398Z,1629052037.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:17.793Z,1629052037.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,015FC,185,80,80,97,FF
2021-08-15T18:27:17.794Z,1629052037.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:17.794Z,1629052037.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:17.795Z,1629052037.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:18.197Z,1629052038.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:19.041Z,1629052039.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,015DA,184,80,80,A2,FF
2021-08-15T18:27:19.042Z,1629052039.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:19.044Z,1629052039.044 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182718.92*50

2021-08-15T18:27:19.508Z,1629052039.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.139984 m, bearing: 57.074024 deg, deltaT: 4.521048 s, approachRate: -0.451225 m/s, LOS rate: 0.027061 deg/s, posRepo size: 4
2021-08-15T18:27:21.895Z,1629052041.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:22.233Z,1629052042.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:22.233Z,1629052042.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:22.233Z,1629052042.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:22.234Z,1629052042.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:22.641Z,1629052042.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,015DA,184,80,80,A2,FF
2021-08-15T18:27:22.641Z,1629052042.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:22.641Z,1629052042.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:22.643Z,1629052042.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:23.045Z,1629052043.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:23.885Z,1629052043.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,015B4,186,80,80,8A,FF
2021-08-15T18:27:23.886Z,1629052043.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:23.890Z,1629052043.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182723.76*52

2021-08-15T18:27:24.291Z,1629052044.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.859985 m, bearing: 56.613228 deg, deltaT: 4.814937 s, approachRate: -0.473526 m/s, LOS rate: -0.095701 deg/s, posRepo size: 4
2021-08-15T18:27:26.703Z,1629052046.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:27.089Z,1629052047.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:27.089Z,1629052047.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:27.089Z,1629052047.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:27.090Z,1629052047.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:27.485Z,1629052047.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,015B4,186,80,80,8A,FF
2021-08-15T18:27:27.485Z,1629052047.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:27.485Z,1629052047.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:27.487Z,1629052047.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:27.892Z,1629052047.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:28.725Z,1629052048.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,01594,187,80,80,9C,FF
2021-08-15T18:27:28.725Z,1629052048.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:28.728Z,1629052048.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182728.61*5F

2021-08-15T18:27:29.187Z,1629052049.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 293.940002 m, bearing: 59.626192 deg, deltaT: 4.819679 s, approachRate: -0.398363 m/s, LOS rate: 0.625138 deg/s, posRepo size: 4
2021-08-15T18:27:31.551Z,1629052051.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:31.935Z,1629052051.935 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:31.935Z,1629052051.935 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:31.935Z,1629052051.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:31.936Z,1629052051.936 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:32.342Z,1629052052.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,01594,187,80,80,9C,FF
2021-08-15T18:27:32.342Z,1629052052.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:32.342Z,1629052052.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:32.345Z,1629052052.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:32.749Z,1629052052.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:33.577Z,1629052053.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,0156F,184,80,80,B9,FF
2021-08-15T18:27:33.577Z,1629052053.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:33.580Z,1629052053.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182733.47*51

2021-08-15T18:27:34.004Z,1629052054.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.719971 m, bearing: 56.205316 deg, deltaT: 4.867418 s, approachRate: -0.456100 m/s, LOS rate: -0.702811 deg/s, posRepo size: 4
2021-08-15T18:27:36.406Z,1629052056.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:36.779Z,1629052056.779 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:36.780Z,1629052056.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:36.781Z,1629052056.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:36.782Z,1629052056.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:37.183Z,1629052057.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,0156F,184,80,80,B9,FF
2021-08-15T18:27:37.183Z,1629052057.183 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:37.183Z,1629052057.183 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:37.185Z,1629052057.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:37.601Z,1629052057.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:38.425Z,1629052058.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,0154A,186,80,80,A2,FF
2021-08-15T18:27:38.425Z,1629052058.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:38.428Z,1629052058.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182738.30*5A

2021-08-15T18:27:38.836Z,1629052058.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.499969 m, bearing: 54.289079 deg, deltaT: 4.836434 s, approachRate: -0.459016 m/s, LOS rate: -0.396209 deg/s, posRepo size: 4
2021-08-15T18:27:39.638Z,1629052059.638 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T18:27:39.638Z,1629052059.638 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T18:27:39.638Z,1629052059.638 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T18:27:39.638Z,1629052059.638 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:27:39.639Z,1629052059.639 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T18:27:39.639Z,1629052059.639 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T18:27:39.664Z,1629052059.664 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-15T18:27:40.199Z,1629052060.199 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T18:27:40.199Z,1629052060.199 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T18:27:40.204Z,1629052060.204 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T18:27:40.204Z,1629052060.204 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:27:40.204Z,1629052060.204 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T18:27:41.015Z,1629052061.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:41.293Z,1629052061.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:41.293Z,1629052061.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:41.293Z,1629052061.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:41.294Z,1629052061.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:41.702Z,1629052061.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,0154A,186,80,80,A2,FF
2021-08-15T18:27:41.702Z,1629052061.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:41.702Z,1629052061.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:41.704Z,1629052061.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:42.132Z,1629052062.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:42.970Z,1629052062.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,042,000,0152D,184,80,80,A1,FF
2021-08-15T18:27:42.988Z,1629052062.988 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:42.998Z,1629052062.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182742.83*5F

2021-08-15T18:27:43.354Z,1629052063.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.759979 m, bearing: 56.652130 deg, deltaT: 4.653032 s, approachRate: -0.373948 m/s, LOS rate: 0.507852 deg/s, posRepo size: 4
2021-08-15T18:27:45.087Z,1629052065.087 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T18:27:45.762Z,1629052065.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:45.991Z,1629052065.991 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T181729/Courier0006.lzma
2021-08-15T18:27:46.151Z,1629052066.151 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:46.151Z,1629052066.151 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:46.151Z,1629052066.151 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:46.152Z,1629052066.152 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:46.545Z,1629052066.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
042,000,0152D,184,80,80,A1,FF
2021-08-15T18:27:46.545Z,1629052066.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:46.545Z,1629052066.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:46.547Z,1629052066.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:46.996Z,1629052066.996 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Courier0006.lzma.bak
2021-08-15T18:27:46.997Z,1629052066.997 [DataOverHttps](INFO): SBD MOMSN=443588
2021-08-15T18:27:47.003Z,1629052067.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:47.355Z,1629052067.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00A10,187,80,80,79,FF
2021-08-15T18:27:47.355Z,1629052067.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:47.789Z,1629052067.789 [Micromodem](INFO): Nmea in: $SNTTA,0.080126,,,,182747.67*43

2021-08-15T18:27:47.814Z,1629052067.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.060005 m, bearing: 57.933023 deg, deltaT: 4.271518 s, approachRate: -39.962368 m/s, LOS rate: 0.299868 deg/s, posRepo size: 4
2021-08-15T18:27:50.223Z,1629052070.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:50.585Z,1629052070.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:50.585Z,1629052070.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:50.585Z,1629052070.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:50.586Z,1629052070.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:51.075Z,1629052071.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00A10,187,80,80,79,FF
2021-08-15T18:27:51.075Z,1629052071.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:51.075Z,1629052071.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:51.077Z,1629052071.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:51.750Z,1629052071.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:52.101Z,1629052072.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,014E5,186,80,80,7E,FF
2021-08-15T18:27:52.102Z,1629052072.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:52.495Z,1629052072.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182752.20*57

2021-08-15T18:27:52.510Z,1629052072.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.440002 m, bearing: 58.327077 deg, deltaT: 4.761343 s, approachRate: 34.943924 m/s, LOS rate: 0.082761 deg/s, posRepo size: 4
2021-08-15T18:27:54.992Z,1629052074.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:27:55.328Z,1629052075.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:27:55.329Z,1629052075.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:27:55.329Z,1629052075.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:27:55.330Z,1629052075.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:27:55.713Z,1629052075.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,014E5,186,80,80,7E,FF
2021-08-15T18:27:55.713Z,1629052075.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:27:55.713Z,1629052075.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:27:55.715Z,1629052075.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:27:56.135Z,1629052076.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:27:56.983Z,1629052076.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,014C6,187,80,80,62,FF
2021-08-15T18:27:56.983Z,1629052076.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:27:56.986Z,1629052076.986 [Micromodem](INFO): Nmea in: $SNTTA,0.190000,,,,182756.84*4B

2021-08-15T18:27:57.378Z,1629052077.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.579987 m, bearing: 56.724045 deg, deltaT: 4.877367 s, approachRate: -0.381357 m/s, LOS rate: -0.328667 deg/s, posRepo size: 4
2021-08-15T18:27:59.779Z,1629052079.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:00.169Z,1629052080.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:00.170Z,1629052080.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:00.170Z,1629052080.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:00.171Z,1629052080.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:00.561Z,1629052080.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,014C6,187,80,80,62,FF
2021-08-15T18:28:00.561Z,1629052080.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:00.561Z,1629052080.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:00.563Z,1629052080.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:01.027Z,1629052081.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:01.798Z,1629052081.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,01499,186,80,80,89,FF
2021-08-15T18:28:01.798Z,1629052081.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:01.803Z,1629052081.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182801.68*52

2021-08-15T18:28:02.235Z,1629052082.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.880005 m, bearing: 59.062340 deg, deltaT: 4.849128 s, approachRate: -0.556797 m/s, LOS rate: 0.482209 deg/s, posRepo size: 4
2021-08-15T18:28:04.623Z,1629052084.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:05.054Z,1629052085.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:05.054Z,1629052085.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:05.055Z,1629052085.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:05.055Z,1629052085.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:05.417Z,1629052085.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,01499,186,80,80,89,FF
2021-08-15T18:28:05.417Z,1629052085.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:05.417Z,1629052085.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:05.419Z,1629052085.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:05.827Z,1629052085.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:06.654Z,1629052086.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,01493,186,80,80,6F,FF
2021-08-15T18:28:06.655Z,1629052086.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:06.660Z,1629052086.660 [Micromodem](INFO): Nmea in: $SNTTA,0.187178,,,,182806.54*44

2021-08-15T18:28:07.129Z,1629052087.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.519989 m, bearing: 58.629524 deg, deltaT: 4.791172 s, approachRate: -0.075142 m/s, LOS rate: -0.090336 deg/s, posRepo size: 4
2021-08-15T18:28:09.516Z,1629052089.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:09.853Z,1629052089.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:09.853Z,1629052089.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:09.853Z,1629052089.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:09.854Z,1629052089.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:10.261Z,1629052090.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,01493,186,80,80,6F,FF
2021-08-15T18:28:10.261Z,1629052090.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:10.261Z,1629052090.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:10.263Z,1629052090.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:10.673Z,1629052090.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:11.499Z,1629052091.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,0146A,187,80,80,71,FF
2021-08-15T18:28:11.500Z,1629052091.500 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:11.505Z,1629052091.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182811.38*56

2021-08-15T18:28:11.904Z,1629052091.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.059998 m, bearing: 57.713466 deg, deltaT: 4.848155 s, approachRate: -0.507408 m/s, LOS rate: -0.188950 deg/s, posRepo size: 4
2021-08-15T18:28:14.369Z,1629052094.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:14.701Z,1629052094.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:14.701Z,1629052094.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:14.701Z,1629052094.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:14.702Z,1629052094.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:15.105Z,1629052095.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0146A,187,80,80,71,FF
2021-08-15T18:28:15.105Z,1629052095.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:15.105Z,1629052095.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:15.107Z,1629052095.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:15.232Z,1629052095.232 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:28:15.513Z,1629052095.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:16.355Z,1629052096.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,01453,182,80,80,82,FF
2021-08-15T18:28:16.355Z,1629052096.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:16.359Z,1629052096.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182816.23*5B

2021-08-15T18:28:16.771Z,1629052096.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.679993 m, bearing: 58.633397 deg, deltaT: 4.919939 s, approachRate: -0.280492 m/s, LOS rate: 0.186980 deg/s, posRepo size: 4
2021-08-15T18:28:19.225Z,1629052099.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:19.557Z,1629052099.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:19.557Z,1629052099.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:19.557Z,1629052099.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:19.558Z,1629052099.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:19.957Z,1629052099.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,01453,182,80,80,82,FF
2021-08-15T18:28:19.957Z,1629052099.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:19.957Z,1629052099.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:19.959Z,1629052099.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:20.380Z,1629052100.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:21.200Z,1629052101.200 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,0142D,187,80,80,76,FF
2021-08-15T18:28:21.201Z,1629052101.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:21.203Z,1629052101.203 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182821.08*56

2021-08-15T18:28:21.633Z,1629052101.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.399994 m, bearing: 58.370947 deg, deltaT: 4.861067 s, approachRate: -0.469033 m/s, LOS rate: -0.053990 deg/s, posRepo size: 4
2021-08-15T18:28:24.054Z,1629052104.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:24.413Z,1629052104.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:24.413Z,1629052104.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:24.413Z,1629052104.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:24.414Z,1629052104.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:24.797Z,1629052104.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,0142D,187,80,80,76,FF
2021-08-15T18:28:24.797Z,1629052104.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:24.798Z,1629052104.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:24.799Z,1629052104.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:25.208Z,1629052105.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:26.045Z,1629052106.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,013F9,186,80,80,61,FF
2021-08-15T18:28:26.046Z,1629052106.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:26.078Z,1629052106.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182825.92*51

2021-08-15T18:28:26.446Z,1629052106.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.279999 m, bearing: 55.699489 deg, deltaT: 4.852684 s, approachRate: -0.642942 m/s, LOS rate: -0.550511 deg/s, posRepo size: 4
2021-08-15T18:28:28.859Z,1629052108.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:29.253Z,1629052109.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:29.254Z,1629052109.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:29.254Z,1629052109.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:29.255Z,1629052109.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:29.664Z,1629052109.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,013F9,186,80,80,61,FF
2021-08-15T18:28:29.664Z,1629052109.664 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:29.665Z,1629052109.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:29.666Z,1629052109.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:30.071Z,1629052110.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:30.881Z,1629052110.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,013D9,183,80,80,8E,FF
2021-08-15T18:28:30.881Z,1629052110.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:30.884Z,1629052110.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182830.78*51

2021-08-15T18:28:31.350Z,1629052111.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.360016 m, bearing: 57.052345 deg, deltaT: 4.738636 s, approachRate: -0.405176 m/s, LOS rate: 0.285495 deg/s, posRepo size: 4
2021-08-15T18:28:33.711Z,1629052113.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:34.121Z,1629052114.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:34.121Z,1629052114.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:34.121Z,1629052114.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:34.122Z,1629052114.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:34.512Z,1629052114.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,013D9,183,80,80,8E,FF
2021-08-15T18:28:34.513Z,1629052114.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:34.514Z,1629052114.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:34.529Z,1629052114.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:34.926Z,1629052114.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:35.715Z,1629052115.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,013C4,184,80,80,6F,FF
2021-08-15T18:28:35.716Z,1629052115.716 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:35.723Z,1629052115.723 [Micromodem](INFO): Nmea in: $SNTTA,0.178880,,,,182835.65*48

2021-08-15T18:28:36.167Z,1629052116.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.099976 m, bearing: 57.368425 deg, deltaT: 4.876365 s, approachRate: -0.258397 m/s, LOS rate: 0.064819 deg/s, posRepo size: 4
2021-08-15T18:28:38.571Z,1629052118.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:38.984Z,1629052118.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:38.985Z,1629052118.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:38.985Z,1629052118.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:38.987Z,1629052118.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:39.358Z,1629052119.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,013C4,184,80,80,6F,FF
2021-08-15T18:28:39.358Z,1629052119.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:39.359Z,1629052119.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:39.367Z,1629052119.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:39.760Z,1629052119.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:40.573Z,1629052120.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,0137D,187,80,80,57,FF
2021-08-15T18:28:40.573Z,1629052120.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:40.577Z,1629052120.577 [Micromodem](INFO): Nmea in: $SNTTA,0.176716,,,,182840.49*4A

2021-08-15T18:28:41.076Z,1629052121.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.839996 m, bearing: 59.373318 deg, deltaT: 4.846528 s, approachRate: -0.878975 m/s, LOS rate: 0.413676 deg/s, posRepo size: 4
2021-08-15T18:28:43.435Z,1629052123.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:43.789Z,1629052123.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:43.789Z,1629052123.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:43.789Z,1629052123.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:43.790Z,1629052123.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:44.205Z,1629052124.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,0137D,187,80,80,57,FF
2021-08-15T18:28:44.205Z,1629052124.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:44.205Z,1629052124.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:44.207Z,1629052124.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:44.601Z,1629052124.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:45.438Z,1629052125.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182845.33*5C

2021-08-15T18:28:46.266Z,1629052126.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:47.829Z,1629052127.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,57,FF
2021-08-15T18:28:47.829Z,1629052127.829 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,57,FF
2021-08-15T18:28:47.829Z,1629052127.829 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:28:49.121Z,1629052129.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:49.449Z,1629052129.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:49.449Z,1629052129.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:49.449Z,1629052129.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:49.450Z,1629052129.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:49.857Z,1629052129.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,57,FF
2021-08-15T18:28:49.857Z,1629052129.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:49.858Z,1629052129.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:49.859Z,1629052129.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:50.256Z,1629052130.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:51.094Z,1629052131.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0119A,184,80,80,55,FF
2021-08-15T18:28:51.094Z,1629052131.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:51.097Z,1629052131.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182850.99*58

2021-08-15T18:28:51.522Z,1629052131.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.860001 m, bearing: 55.991688 deg, deltaT: 10.552150 s, approachRate: -2.746359 m/s, LOS rate: -0.320468 deg/s, posRepo size: 4
2021-08-15T18:28:53.918Z,1629052133.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:54.329Z,1629052134.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:54.329Z,1629052134.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:54.329Z,1629052134.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:54.330Z,1629052134.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:54.705Z,1629052134.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0119A,184,80,80,55,FF
2021-08-15T18:28:54.705Z,1629052134.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:54.705Z,1629052134.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:54.707Z,1629052134.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:55.105Z,1629052135.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:28:55.519Z,1629052135.519 [Micromodem](INFO): Nmea in: $SNTTA,0.173548,0.057492,,,182855.83*57

2021-08-15T18:28:55.909Z,1629052135.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,0130F,184,80,80,A0,FF
2021-08-15T18:28:55.910Z,1629052135.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:28:56.343Z,1629052136.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.239990 m, bearing: 58.692294 deg, deltaT: 4.769075 s, approachRate: 4.692732 m/s, LOS rate: 0.566274 deg/s, posRepo size: 4
2021-08-15T18:28:58.755Z,1629052138.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:28:59.149Z,1629052139.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:28:59.149Z,1629052139.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:28:59.149Z,1629052139.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:28:59.150Z,1629052139.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:28:59.569Z,1629052139.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,0130F,184,80,80,A0,FF
2021-08-15T18:28:59.569Z,1629052139.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:28:59.570Z,1629052139.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:28:59.571Z,1629052139.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:28:59.957Z,1629052139.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:00.772Z,1629052140.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,01317,186,80,80,6E,FF
2021-08-15T18:29:00.773Z,1629052140.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:00.778Z,1629052140.778 [Micromodem](INFO): Nmea in: $SNTTA,0.169401,,,,182900.69*46

2021-08-15T18:29:01.240Z,1629052141.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.720001 m, bearing: 59.701529 deg, deltaT: 4.846634 s, approachRate: 0.099040 m/s, LOS rate: 0.208234 deg/s, posRepo size: 4
2021-08-15T18:29:03.607Z,1629052143.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:03.994Z,1629052143.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:03.994Z,1629052143.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:03.994Z,1629052143.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:03.995Z,1629052143.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:04.412Z,1629052144.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,01317,186,80,80,6E,FF
2021-08-15T18:29:04.412Z,1629052144.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:04.413Z,1629052144.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:04.414Z,1629052144.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:04.800Z,1629052144.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:05.203Z,1629052145.203 [Micromodem](INFO): Nmea in: $SNTTA,0.160365,0.160440,,,182905.54*58

2021-08-15T18:29:05.605Z,1629052145.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA5,000,012CE,187,80,80,5A,FF
2021-08-15T18:29:05.606Z,1629052145.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:06.049Z,1629052146.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.339996 m, bearing: 57.854810 deg, deltaT: 4.829159 s, approachRate: -0.906991 m/s, LOS rate: -0.382410 deg/s, posRepo size: 4
2021-08-15T18:29:08.451Z,1629052148.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:08.837Z,1629052148.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:08.837Z,1629052148.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:08.837Z,1629052148.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:08.838Z,1629052148.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:09.245Z,1629052149.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA5,000,012CE,187,80,80,5A,FF
2021-08-15T18:29:09.245Z,1629052149.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:09.245Z,1629052149.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:09.247Z,1629052149.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:09.663Z,1629052149.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:10.481Z,1629052150.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,012CD,186,80,80,67,FF
2021-08-15T18:29:10.481Z,1629052150.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:10.512Z,1629052150.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182910.37*59

2021-08-15T18:29:10.901Z,1629052150.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.279984 m, bearing: 56.475774 deg, deltaT: 4.935811 s, approachRate: -0.012159 m/s, LOS rate: -0.279394 deg/s, posRepo size: 4
2021-08-15T18:29:13.369Z,1629052153.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:13.685Z,1629052153.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:13.685Z,1629052153.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:13.685Z,1629052153.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:13.686Z,1629052153.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:14.124Z,1629052154.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,012CD,186,80,80,67,FF
2021-08-15T18:29:14.125Z,1629052154.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:14.125Z,1629052154.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:14.126Z,1629052154.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:14.497Z,1629052154.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:15.301Z,1629052155.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,0129E,183,80,80,7C,FF
2021-08-15T18:29:15.301Z,1629052155.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:15.305Z,1629052155.305 [Micromodem](INFO): Nmea in: $SNTTA,0.164495,0.304676,,,182915.25*54

2021-08-15T18:29:15.756Z,1629052155.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.459991 m, bearing: 52.830058 deg, deltaT: 4.837413 s, approachRate: -0.582955 m/s, LOS rate: -0.753650 deg/s, posRepo size: 4
2021-08-15T18:29:18.170Z,1629052158.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:18.533Z,1629052158.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:18.533Z,1629052158.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:18.533Z,1629052158.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:18.534Z,1629052158.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:18.985Z,1629052158.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,0129E,183,80,80,7C,FF
2021-08-15T18:29:18.985Z,1629052158.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:18.985Z,1629052158.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:18.987Z,1629052158.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:19.356Z,1629052159.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:20.151Z,1629052160.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,01264,187,80,80,95,FF
2021-08-15T18:29:20.152Z,1629052160.152 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:20.159Z,1629052160.159 [Micromodem](INFO): Nmea in: $SNTTA,0.165483,,,,182920.11*4D

2021-08-15T18:29:20.608Z,1629052160.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.979980 m, bearing: 59.791852 deg, deltaT: 4.818731 s, approachRate: -0.722184 m/s, LOS rate: 1.444736 deg/s, posRepo size: 4
2021-08-15T18:29:23.112Z,1629052163.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:23.389Z,1629052163.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:23.389Z,1629052163.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:23.389Z,1629052163.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:23.390Z,1629052163.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:23.793Z,1629052163.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,01264,187,80,80,95,FF
2021-08-15T18:29:23.793Z,1629052163.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:23.793Z,1629052163.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:23.797Z,1629052163.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:24.210Z,1629052164.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:25.029Z,1629052165.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,01241,186,80,80,64,FF
2021-08-15T18:29:25.029Z,1629052165.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:25.032Z,1629052165.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182924.92*51

2021-08-15T18:29:25.473Z,1629052165.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.879990 m, bearing: 55.413379 deg, deltaT: 4.924405 s, approachRate: -0.426446 m/s, LOS rate: -0.889137 deg/s, posRepo size: 4
2021-08-15T18:29:27.875Z,1629052167.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:28.229Z,1629052168.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:28.229Z,1629052168.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:28.229Z,1629052168.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:28.230Z,1629052168.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:28.642Z,1629052168.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,01241,186,80,80,64,FF
2021-08-15T18:29:28.642Z,1629052168.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:28.642Z,1629052168.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:28.650Z,1629052168.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:29.064Z,1629052169.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:29.476Z,1629052169.476 [Micromodem](INFO): Nmea in: $SNTTA,0.163130,0.024364,,,182929.81*5F

2021-08-15T18:29:29.857Z,1629052169.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0121F,184,80,80,97,FF
2021-08-15T18:29:29.857Z,1629052169.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:30.313Z,1629052170.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.839996 m, bearing: 58.560082 deg, deltaT: 4.735036 s, approachRate: -0.430830 m/s, LOS rate: 0.664557 deg/s, posRepo size: 4
2021-08-15T18:29:32.714Z,1629052172.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:33.085Z,1629052173.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:33.085Z,1629052173.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:33.085Z,1629052173.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:33.086Z,1629052173.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:33.485Z,1629052173.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0121F,184,80,80,97,FF
2021-08-15T18:29:33.485Z,1629052173.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:33.485Z,1629052173.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:33.487Z,1629052173.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:33.901Z,1629052173.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:34.717Z,1629052174.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,011FA,185,80,80,5C,FF
2021-08-15T18:29:34.717Z,1629052174.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:34.721Z,1629052174.721 [Micromodem](INFO): Nmea in: $SNTTA,0.158812,,,,182934.61*45

2021-08-15T18:29:35.184Z,1629052175.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.619995 m, bearing: 62.875935 deg, deltaT: 4.902460 s, approachRate: -0.452834 m/s, LOS rate: 0.880344 deg/s, posRepo size: 4
2021-08-15T18:29:37.577Z,1629052177.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:37.933Z,1629052177.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:37.934Z,1629052177.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:37.934Z,1629052177.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:37.935Z,1629052177.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:38.329Z,1629052178.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,011FA,185,80,80,5C,FF
2021-08-15T18:29:38.329Z,1629052178.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:38.329Z,1629052178.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:38.331Z,1629052178.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:38.732Z,1629052178.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:39.147Z,1629052179.147 [Micromodem](INFO): Nmea in: $SNTTA,0.202518,0.204074,,,182939.45*5E

2021-08-15T18:29:39.541Z,1629052179.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,011D4,183,80,80,A3,FF
2021-08-15T18:29:39.541Z,1629052179.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:39.990Z,1629052179.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.339981 m, bearing: 57.105115 deg, deltaT: 4.843333 s, approachRate: -0.470753 m/s, LOS rate: -1.191498 deg/s, posRepo size: 4
2021-08-15T18:29:42.409Z,1629052182.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:42.773Z,1629052182.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:42.773Z,1629052182.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:42.773Z,1629052182.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:42.774Z,1629052182.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:43.177Z,1629052183.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,011D4,183,80,80,A3,FF
2021-08-15T18:29:43.177Z,1629052183.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:43.177Z,1629052183.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:43.179Z,1629052183.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:43.585Z,1629052183.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:44.417Z,1629052184.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,011B6,184,80,80,AC,FF
2021-08-15T18:29:44.417Z,1629052184.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:44.421Z,1629052184.421 [Micromodem](INFO): Nmea in: $SNTTA,0.156151,,,,182944.30*46

2021-08-15T18:29:44.831Z,1629052184.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.539993 m, bearing: 59.952723 deg, deltaT: 4.869488 s, approachRate: -0.369646 m/s, LOS rate: 0.584786 deg/s, posRepo size: 4
2021-08-15T18:29:45.255Z,1629052185.255 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-15T18:29:47.298Z,1629052187.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:47.636Z,1629052187.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:47.636Z,1629052187.636 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:47.636Z,1629052187.636 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:47.637Z,1629052187.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:48.032Z,1629052188.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,011B6,184,80,80,AC,FF
2021-08-15T18:29:48.033Z,1629052188.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:48.033Z,1629052188.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:48.040Z,1629052188.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:48.437Z,1629052188.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:49.247Z,1629052189.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,01195,184,80,80,B9,FF
2021-08-15T18:29:49.247Z,1629052189.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:49.250Z,1629052189.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182949.16*56

2021-08-15T18:29:49.688Z,1629052189.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.559998 m, bearing: 59.601460 deg, deltaT: 4.857140 s, approachRate: -0.407646 m/s, LOS rate: -0.072319 deg/s, posRepo size: 4
2021-08-15T18:29:52.087Z,1629052192.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:52.481Z,1629052192.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:52.481Z,1629052192.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:52.481Z,1629052192.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:52.482Z,1629052192.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:52.883Z,1629052192.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,01195,184,80,80,B9,FF
2021-08-15T18:29:52.883Z,1629052192.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:52.883Z,1629052192.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:52.885Z,1629052192.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:53.285Z,1629052193.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:54.113Z,1629052194.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,01182,187,80,80,69,FF
2021-08-15T18:29:54.113Z,1629052194.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:54.116Z,1629052194.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182954.00*5D

2021-08-15T18:29:54.532Z,1629052194.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.419983 m, bearing: 53.864436 deg, deltaT: 4.828182 s, approachRate: -0.236117 m/s, LOS rate: -1.188237 deg/s, posRepo size: 4
2021-08-15T18:29:57.063Z,1629052197.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:29:57.330Z,1629052197.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:29:57.330Z,1629052197.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:29:57.330Z,1629052197.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:29:57.331Z,1629052197.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:29:57.737Z,1629052197.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,01182,187,80,80,69,FF
2021-08-15T18:29:57.737Z,1629052197.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:29:57.738Z,1629052197.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:29:57.739Z,1629052197.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:29:58.141Z,1629052198.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:29:58.989Z,1629052198.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,01150,184,80,80,9D,FF
2021-08-15T18:29:58.989Z,1629052198.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:29:59.013Z,1629052199.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,182958.86*5F

2021-08-15T18:29:59.396Z,1629052199.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.419983 m, bearing: 61.389829 deg, deltaT: 4.900801 s, approachRate: -0.612145 m/s, LOS rate: 1.535543 deg/s, posRepo size: 4
2021-08-15T18:30:01.791Z,1629052201.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:02.181Z,1629052202.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:02.181Z,1629052202.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:02.181Z,1629052202.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:02.182Z,1629052202.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:02.573Z,1629052202.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,01150,184,80,80,9D,FF
2021-08-15T18:30:02.573Z,1629052202.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:02.574Z,1629052202.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:02.575Z,1629052202.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:03.013Z,1629052203.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:03.825Z,1629052203.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,01127,183,80,80,A4,FF
2021-08-15T18:30:03.826Z,1629052203.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:03.829Z,1629052203.829 [Micromodem](INFO): Nmea in: $SNTTA,,0.121444,,,183003.70*48

2021-08-15T18:30:04.252Z,1629052204.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.959991 m, bearing: 57.567717 deg, deltaT: 4.768541 s, approachRate: -0.515879 m/s, LOS rate: -0.801527 deg/s, posRepo size: 4
2021-08-15T18:30:06.654Z,1629052206.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:07.021Z,1629052207.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:07.021Z,1629052207.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:07.021Z,1629052207.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:07.022Z,1629052207.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:07.425Z,1629052207.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,01127,183,80,80,A4,FF
2021-08-15T18:30:07.425Z,1629052207.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:07.426Z,1629052207.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:07.427Z,1629052207.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:07.844Z,1629052207.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:08.665Z,1629052208.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,010F5,187,80,80,42,FF
2021-08-15T18:30:08.665Z,1629052208.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:08.692Z,1629052208.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183008.55*5C

2021-08-15T18:30:09.114Z,1629052209.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.959991 m, bearing: 53.542130 deg, deltaT: 4.864286 s, approachRate: -0.616740 m/s, LOS rate: -0.827580 deg/s, posRepo size: 4
2021-08-15T18:30:11.506Z,1629052211.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:11.871Z,1629052211.871 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:11.871Z,1629052211.871 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:11.871Z,1629052211.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:11.872Z,1629052211.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:12.273Z,1629052212.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,010F5,187,80,80,42,FF
2021-08-15T18:30:12.273Z,1629052212.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:12.273Z,1629052212.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:12.275Z,1629052212.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:12.691Z,1629052212.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:13.091Z,1629052213.091 [Micromodem](INFO): Nmea in: $SNTTA,0.148434,0.271232,,,183013.40*5B

2021-08-15T18:30:13.485Z,1629052213.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,010BF,186,80,80,7F,FF
2021-08-15T18:30:13.485Z,1629052213.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:13.950Z,1629052213.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.719986 m, bearing: 57.651755 deg, deltaT: 4.794437 s, approachRate: -0.675784 m/s, LOS rate: 0.857165 deg/s, posRepo size: 4
2021-08-15T18:30:16.090Z,1629052216.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:16.317Z,1629052216.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:16.317Z,1629052216.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:16.317Z,1629052216.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:16.318Z,1629052216.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:16.721Z,1629052216.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,010BF,186,80,80,7F,FF
2021-08-15T18:30:16.721Z,1629052216.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:16.721Z,1629052216.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:16.723Z,1629052216.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:17.124Z,1629052217.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:17.142Z,1629052217.142 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:30:17.965Z,1629052217.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0108A,186,80,80,B0,FF
2021-08-15T18:30:17.966Z,1629052217.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:17.969Z,1629052217.969 [Micromodem](INFO): Nmea in: $SNTTA,0.146500,,,,183017.85*47

2021-08-15T18:30:18.382Z,1629052218.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.539993 m, bearing: 61.107134 deg, deltaT: 4.534548 s, approachRate: -0.701281 m/s, LOS rate: 0.762012 deg/s, posRepo size: 4
2021-08-15T18:30:20.808Z,1629052220.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:21.161Z,1629052221.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:21.161Z,1629052221.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:21.161Z,1629052221.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:21.162Z,1629052221.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:21.577Z,1629052221.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0108A,186,80,80,B0,FF
2021-08-15T18:30:21.577Z,1629052221.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:21.577Z,1629052221.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:21.579Z,1629052221.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:21.984Z,1629052221.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:22.809Z,1629052222.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,01050,183,80,80,A9,FF
2021-08-15T18:30:22.810Z,1629052222.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:22.813Z,1629052222.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183022.70*53

2021-08-15T18:30:23.264Z,1629052223.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.059998 m, bearing: 56.864829 deg, deltaT: 4.790658 s, approachRate: -0.726413 m/s, LOS rate: -0.885537 deg/s, posRepo size: 4
2021-08-15T18:30:25.637Z,1629052225.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:26.021Z,1629052226.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:26.021Z,1629052226.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:26.021Z,1629052226.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:26.022Z,1629052226.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:26.429Z,1629052226.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,01050,183,80,80,A9,FF
2021-08-15T18:30:26.430Z,1629052226.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:26.430Z,1629052226.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:26.433Z,1629052226.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:26.831Z,1629052226.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:27.641Z,1629052227.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,01016,184,80,80,A6,FF
2021-08-15T18:30:27.641Z,1629052227.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:27.644Z,1629052227.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183027.56*52

2021-08-15T18:30:28.083Z,1629052228.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.579987 m, bearing: 54.323459 deg, deltaT: 4.875722 s, approachRate: -0.713743 m/s, LOS rate: -0.521229 deg/s, posRepo size: 4
2021-08-15T18:30:30.521Z,1629052230.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:30.860Z,1629052230.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:30.860Z,1629052230.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:30.860Z,1629052230.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:30.861Z,1629052230.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:31.329Z,1629052231.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,01016,184,80,80,A6,FF
2021-08-15T18:30:31.329Z,1629052231.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:31.329Z,1629052231.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:31.331Z,1629052231.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:31.692Z,1629052231.692 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T18:30:31.693Z,1629052231.693 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.246250
2021-08-15T18:30:31.756Z,1629052231.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:31.790Z,1629052231.790 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T18:30:31.790Z,1629052231.790 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T18:30:31.791Z,1629052231.791 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T18:30:31.791Z,1629052231.791 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:30:31.791Z,1629052231.791 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T18:30:32.241Z,1629052232.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,00FDE,185,80,80,92,FF
2021-08-15T18:30:32.241Z,1629052232.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:32.477Z,1629052232.477 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19610B0000005D00000400260000000000000000151D80030C5669C08C7998788F68A8E82547DDEF56C67A2DE217BB077105C722E04CF1B38400
2021-08-15T18:30:32.478Z,1629052232.478 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T18:30:32.809Z,1629052232.809 [Micromodem](INFO): Nmea in: $SNTT,,,,183032.45*54

2021-08-15T18:30:32.809Z,1629052232.809 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNTT,,,,183032.45*54
 expected 39
2021-08-15T18:30:32.810Z,1629052232.810 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T18:30:32.971Z,1629052232.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.219986 m, bearing: 56.816386 deg, deltaT: 4.882030 s, approachRate: -0.688238 m/s, LOS rate: 0.510633 deg/s, posRepo size: 4
2021-08-15T18:30:34.057Z,1629052234.057 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T18:30:34.603Z,1629052234.603 [Micromodem](INFO): Nmea in: $CADRQ,183033,1,10,0,64,1*7C

2021-08-15T18:30:34.607Z,1629052234.607 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19610B0000005D00000400260000000000000000151D80030C5669C08C7998788F68A8E82547DDEF56C67A2DE217BB077105C722E04CF1B38400*3A

2021-08-15T18:30:35.021Z,1629052235.021 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T18:30:35.022Z,1629052235.022 [Micromodem](ERROR): TXD response from modem unexpected: $CACYC,0,1,10,1,0,1*6B

2021-08-15T18:30:35.093Z,1629052235.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:35.425Z,1629052235.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:35.425Z,1629052235.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:35.425Z,1629052235.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:35.426Z,1629052235.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:35.448Z,1629052235.448 [Micromodem](INFO): Nmea in: $CADRQ,183033,1,10,0,64,1*7C

2021-08-15T18:30:35.448Z,1629052235.448 [Micromodem](ERROR): TXD response from modem unexpected: $CADRQ,183033,1,10,0,64,1*7C

2021-08-15T18:30:35.825Z,1629052235.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00FDE,185,80,80,92,FF
2021-08-15T18:30:35.825Z,1629052235.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:35.825Z,1629052235.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:35.827Z,1629052235.827 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T18:30:35.828Z,1629052235.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:36.230Z,1629052236.230 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T18:30:36.230Z,1629052236.230 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T18:30:36.646Z,1629052236.646 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T18:30:36.646Z,1629052236.646 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T18:30:37.103Z,1629052237.103 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,183035.751481,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-15T18:30:37.103Z,1629052237.103 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,183035.751481,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*57

2021-08-15T18:30:37.923Z,1629052237.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:39.046Z,1629052239.046 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T18:30:39.047Z,1629052239.047 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T181729/Courier0011.lzma.parts
2021-08-15T18:30:39.047Z,1629052239.047 [Micromodem](INFO): Packets left to send: 0
2021-08-15T18:30:39.470Z,1629052239.470 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815183038.841556,06,32767,45,0141,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,18.5,11.15,23,-8.15,-01,-0.70,49,14500,4000*76

2021-08-15T18:30:39.470Z,1629052239.470 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815183038.841556,06,32767,45,0141,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,18.5,11.15,23,-8.15,-01,-0.70,49,14500,4000*76

2021-08-15T18:30:39.766Z,1629052239.766 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T18:30:39.766Z,1629052239.766 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T18:30:39.767Z,1629052239.767 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T18:30:39.767Z,1629052239.767 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T18:30:39.767Z,1629052239.767 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T18:30:40.826Z,1629052240.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:41.444Z,1629052241.444 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.017875
2021-08-15T18:30:43.498Z,1629052243.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:43.860Z,1629052243.860 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:43.860Z,1629052243.860 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:43.860Z,1629052243.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:43.861Z,1629052243.861 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:44.261Z,1629052244.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,00FDE,185,80,80,92,FF
2021-08-15T18:30:44.261Z,1629052244.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:44.261Z,1629052244.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:45.636Z,1629052245.636 [Radio_Surface](INFO): Powering down
2021-08-15T18:30:46.005Z,1629052246.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:47.098Z,1629052247.098 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:47.500Z,1629052247.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:48.329Z,1629052248.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,00F26,186,80,80,8A,FF
2021-08-15T18:30:48.330Z,1629052248.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:48.333Z,1629052248.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183048.22*58

2021-08-15T18:30:48.741Z,1629052248.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.179993 m, bearing: 58.610140 deg, deltaT: 15.824337 s, approachRate: -0.697659 m/s, LOS rate: 0.113354 deg/s, posRepo size: 4
2021-08-15T18:30:51.213Z,1629052251.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:51.537Z,1629052251.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:51.537Z,1629052251.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:51.537Z,1629052251.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:51.538Z,1629052251.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:51.965Z,1629052251.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,00F26,186,80,80,8A,FF
2021-08-15T18:30:51.965Z,1629052251.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:51.966Z,1629052251.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:51.967Z,1629052251.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:52.417Z,1629052252.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:52.857Z,1629052252.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00EE9,183,80,80,8A,FF
2021-08-15T18:30:52.857Z,1629052252.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:53.278Z,1629052253.278 [Micromodem](INFO): Nmea in: $SNTTA,0.131416,0.425401,,,183053.09*5D

2021-08-15T18:30:53.381Z,1629052253.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.519989 m, bearing: 55.479407 deg, deltaT: 4.577119 s, approachRate: -0.799630 m/s, LOS rate: -0.683996 deg/s, posRepo size: 4
2021-08-15T18:30:55.322Z,1629052255.322 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:30:55.761Z,1629052255.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:30:56.146Z,1629052256.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:30:56.146Z,1629052256.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:30:56.146Z,1629052256.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:30:56.147Z,1629052256.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:30:56.204Z,1629052256.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00EE9,183,80,80,8A,FF
2021-08-15T18:30:56.204Z,1629052256.204 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:30:56.204Z,1629052256.204 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:30:56.206Z,1629052256.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:30:56.749Z,1629052256.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:30:57.197Z,1629052257.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00EB4,184,80,80,B4,FF
2021-08-15T18:30:57.198Z,1629052257.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:30:57.609Z,1629052257.609 [Micromodem](INFO): Nmea in: $SNTTA,0.304393,,,,183057.33*46

2021-08-15T18:30:57.644Z,1629052257.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.339996 m, bearing: 52.952524 deg, deltaT: 4.305695 s, approachRate: -0.738555 m/s, LOS rate: -0.586870 deg/s, posRepo size: 4
2021-08-15T18:31:00.053Z,1629052260.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:00.421Z,1629052260.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:00.421Z,1629052260.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:00.421Z,1629052260.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:00.422Z,1629052260.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:00.821Z,1629052260.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00EB4,184,80,80,B4,FF
2021-08-15T18:31:00.821Z,1629052260.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:00.821Z,1629052260.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:00.823Z,1629052260.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:01.241Z,1629052261.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:02.074Z,1629052262.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183101.95*58

2021-08-15T18:31:02.886Z,1629052262.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:04.110Z,1629052264.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6300EB4,184,80,80,B4,FF
2021-08-15T18:31:04.110Z,1629052264.110 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6300EB4,184,80,80,B4,FF
2021-08-15T18:31:04.110Z,1629052264.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:31:05.747Z,1629052265.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:06.121Z,1629052266.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:06.121Z,1629052266.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:06.121Z,1629052266.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:06.122Z,1629052266.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:06.525Z,1629052266.525 [DUSBL_Hydroid](INFO): DUSBL response received:,E4
!U1,P
0,6300EB4,184,80,80,B4,FF
2021-08-15T18:31:06.525Z,1629052266.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:06.526Z,1629052266.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:06.532Z,1629052266.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:06.840Z,1629052266.840 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T18:31:07.016Z,1629052267.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:07.449Z,1629052267.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:07.449Z,1629052267.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:07.844Z,1629052267.844 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T18:31:07.849Z,1629052267.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183107.65*51

2021-08-15T18:31:07.934Z,1629052267.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 58.993259 deg, deltaT: 10.175347 s, approachRate: -0.695798 m/s, LOS rate: 0.593664 deg/s, posRepo size: 4
2021-08-15T18:31:10.297Z,1629052270.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:10.665Z,1629052270.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:10.665Z,1629052270.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:10.665Z,1629052270.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:10.666Z,1629052270.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:11.065Z,1629052271.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:11.066Z,1629052271.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:11.066Z,1629052271.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:11.067Z,1629052271.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:11.070Z,1629052271.070 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T18:31:11.486Z,1629052271.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:11.877Z,1629052271.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F59,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:11.878Z,1629052271.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:12.314Z,1629052272.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183112.19*5E

2021-08-15T18:31:12.332Z,1629052272.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 59.882454 deg, deltaT: 4.506483 s, approachRate: 0.000000 m/s, LOS rate: 0.197315 deg/s, posRepo size: 4
2021-08-15T18:31:14.734Z,1629052274.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:15.113Z,1629052275.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:15.113Z,1629052275.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:15.113Z,1629052275.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:15.114Z,1629052275.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:15.517Z,1629052275.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F59,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:15.517Z,1629052275.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:15.517Z,1629052275.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:15.519Z,1629052275.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:15.953Z,1629052275.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:16.318Z,1629052276.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD9,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:16.318Z,1629052276.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:16.762Z,1629052276.762 [Micromodem](INFO): Nmea in: $SNTTA,0.132756,,,,183116.64*4A

2021-08-15T18:31:16.786Z,1629052276.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 58.196784 deg, deltaT: 4.398680 s, approachRate: 0.000000 m/s, LOS rate: -0.383222 deg/s, posRepo size: 4
2021-08-15T18:31:19.232Z,1629052279.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:19.549Z,1629052279.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:19.549Z,1629052279.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:19.549Z,1629052279.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:19.550Z,1629052279.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:19.961Z,1629052279.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD9,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:19.961Z,1629052279.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:19.961Z,1629052279.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:19.963Z,1629052279.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:20.360Z,1629052280.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:20.762Z,1629052280.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:20.762Z,1629052280.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:21.189Z,1629052281.189 [Micromodem](INFO): Nmea in: $SNTTA,0.425926,0.425664,,,183121.09*56

2021-08-15T18:31:21.268Z,1629052281.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 56.369865 deg, deltaT: 4.433562 s, approachRate: 0.000000 m/s, LOS rate: -0.412066 deg/s, posRepo size: 4
2021-08-15T18:31:23.218Z,1629052283.218 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:31:23.607Z,1629052283.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:24.001Z,1629052284.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:24.001Z,1629052284.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:24.001Z,1629052284.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:24.002Z,1629052284.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:24.405Z,1629052284.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00E3E,187,80,80,B6,FF
2021-08-15T18:31:24.405Z,1629052284.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:24.406Z,1629052284.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:24.407Z,1629052284.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:24.805Z,1629052284.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:25.214Z,1629052285.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00D66,187,80,80,B6,FF
2021-08-15T18:31:25.214Z,1629052285.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:25.223Z,1629052285.223 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:31:25.645Z,1629052285.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183125.53*54

2021-08-15T18:31:25.675Z,1629052285.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.300003 m, bearing: 55.185791 deg, deltaT: 4.479851 s, approachRate: -2.892955 m/s, LOS rate: -0.264311 deg/s, posRepo size: 4
2021-08-15T18:31:28.081Z,1629052288.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:28.433Z,1629052288.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:28.433Z,1629052288.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:28.433Z,1629052288.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:28.434Z,1629052288.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:28.845Z,1629052288.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00D66,187,80,80,B6,FF
2021-08-15T18:31:28.846Z,1629052288.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:28.846Z,1629052288.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:28.847Z,1629052288.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:29.253Z,1629052289.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:29.679Z,1629052289.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,00D31,185,80,80,BA,FF
2021-08-15T18:31:29.684Z,1629052289.684 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:30.089Z,1629052290.089 [Micromodem](INFO): Nmea in: $SNTTA,0.112246,,,,183129.97*4C

2021-08-15T18:31:30.144Z,1629052290.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.119995 m, bearing: 54.748256 deg, deltaT: 4.438367 s, approachRate: -0.716482 m/s, LOS rate: -0.098580 deg/s, posRepo size: 4
2021-08-15T18:31:32.491Z,1629052292.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:32.897Z,1629052292.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:32.898Z,1629052292.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:32.899Z,1629052292.899 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:32.908Z,1629052292.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:33.289Z,1629052293.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,00D31,185,80,80,BA,FF
2021-08-15T18:31:33.289Z,1629052293.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:33.289Z,1629052293.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:33.291Z,1629052293.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:33.703Z,1629052293.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:34.098Z,1629052294.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00CFD,185,80,80,BA,FF
2021-08-15T18:31:34.099Z,1629052294.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:34.526Z,1629052294.526 [Micromodem](INFO): Nmea in: $SNTTA,0.132924,,,,183134.41*46

2021-08-15T18:31:34.542Z,1629052294.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.000000 m, bearing: 54.715829 deg, deltaT: 4.449921 s, approachRate: -0.701135 m/s, LOS rate: -0.007287 deg/s, posRepo size: 4
2021-08-15T18:31:37.053Z,1629052297.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:37.329Z,1629052297.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:37.329Z,1629052297.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:37.329Z,1629052297.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:37.330Z,1629052297.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:37.737Z,1629052297.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00CFD,185,80,80,BA,FF
2021-08-15T18:31:37.737Z,1629052297.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:37.737Z,1629052297.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:37.739Z,1629052297.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:38.158Z,1629052298.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:38.538Z,1629052298.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00CC6,185,80,80,BA,FF
2021-08-15T18:31:38.538Z,1629052298.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:39.009Z,1629052299.009 [Micromodem](INFO): Nmea in: $SNTTA,0.133675,,,,183138.86*4B

2021-08-15T18:31:39.035Z,1629052299.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.699997 m, bearing: 52.874202 deg, deltaT: 4.385675 s, approachRate: -0.752450 m/s, LOS rate: -0.419919 deg/s, posRepo size: 4
2021-08-15T18:31:41.103Z,1629052301.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:41.362Z,1629052301.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:41.362Z,1629052301.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:41.362Z,1629052301.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:41.363Z,1629052301.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:41.765Z,1629052301.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00CC6,185,80,80,BA,FF
2021-08-15T18:31:41.765Z,1629052301.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:41.765Z,1629052301.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:41.767Z,1629052301.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:42.192Z,1629052302.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:42.589Z,1629052302.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00C98,183,80,80,A5,FF
2021-08-15T18:31:42.590Z,1629052302.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:43.029Z,1629052303.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183142.89*52

2021-08-15T18:31:43.100Z,1629052303.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.940002 m, bearing: 52.931678 deg, deltaT: 4.071204 s, approachRate: -0.677931 m/s, LOS rate: 0.014118 deg/s, posRepo size: 4
2021-08-15T18:31:45.447Z,1629052305.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:45.829Z,1629052305.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:45.829Z,1629052305.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:45.830Z,1629052305.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:45.830Z,1629052305.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:46.249Z,1629052306.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00C98,183,80,80,A5,FF
2021-08-15T18:31:46.249Z,1629052306.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:46.249Z,1629052306.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:46.250Z,1629052306.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:46.644Z,1629052306.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:47.046Z,1629052307.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00C66,184,80,80,A5,FF
2021-08-15T18:31:47.046Z,1629052307.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:47.473Z,1629052307.473 [Micromodem](INFO): Nmea in: $SNTTA,0.124913,,,,183147.37*40

2021-08-15T18:31:47.516Z,1629052307.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.939987 m, bearing: 54.791979 deg, deltaT: 4.464984 s, approachRate: -0.671898 m/s, LOS rate: 0.416642 deg/s, posRepo size: 4
2021-08-15T18:31:49.921Z,1629052309.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:50.281Z,1629052310.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:50.281Z,1629052310.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:50.281Z,1629052310.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:50.282Z,1629052310.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:50.681Z,1629052310.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00C66,184,80,80,A5,FF
2021-08-15T18:31:50.682Z,1629052310.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:50.682Z,1629052310.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:50.683Z,1629052310.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:51.100Z,1629052311.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:51.494Z,1629052311.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00C32,184,80,80,9D,FF
2021-08-15T18:31:51.494Z,1629052311.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:51.949Z,1629052311.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183151.81*58

2021-08-15T18:31:52.041Z,1629052312.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 55.893159 deg, deltaT: 4.441859 s, approachRate: -0.702404 m/s, LOS rate: 0.247910 deg/s, posRepo size: 4
2021-08-15T18:31:54.418Z,1629052314.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:54.749Z,1629052314.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:54.749Z,1629052314.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:54.749Z,1629052314.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:54.750Z,1629052314.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:55.130Z,1629052315.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00C32,184,80,80,9D,FF
2021-08-15T18:31:55.130Z,1629052315.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:55.131Z,1629052315.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:55.134Z,1629052315.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:31:55.524Z,1629052315.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:31:55.926Z,1629052315.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00C07,184,80,80,9D,FF
2021-08-15T18:31:55.927Z,1629052315.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:31:56.362Z,1629052316.362 [Micromodem](INFO): Nmea in: $SNTTA,0.112853,,,,183156.26*40

2021-08-15T18:31:56.424Z,1629052316.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.240005 m, bearing: 56.046132 deg, deltaT: 4.497201 s, approachRate: -0.573691 m/s, LOS rate: 0.034015 deg/s, posRepo size: 4
2021-08-15T18:31:58.782Z,1629052318.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:31:59.170Z,1629052319.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:31:59.170Z,1629052319.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:31:59.171Z,1629052319.171 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:31:59.171Z,1629052319.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:31:59.570Z,1629052319.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00C07,184,80,80,9D,FF
2021-08-15T18:31:59.570Z,1629052319.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:31:59.570Z,1629052319.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:31:59.572Z,1629052319.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:00.005Z,1629052320.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:00.383Z,1629052320.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00BD6,184,80,80,AF,FF
2021-08-15T18:32:00.383Z,1629052320.383 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:00.817Z,1629052320.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183200.69*59

2021-08-15T18:32:00.868Z,1629052320.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 57.589519 deg, deltaT: 4.363923 s, approachRate: -0.673706 m/s, LOS rate: 0.353670 deg/s, posRepo size: 4
2021-08-15T18:32:03.287Z,1629052323.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:03.601Z,1629052323.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:03.601Z,1629052323.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:03.601Z,1629052323.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:03.602Z,1629052323.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:04.046Z,1629052324.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00BD6,184,80,80,AF,FF
2021-08-15T18:32:04.046Z,1629052324.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:04.047Z,1629052324.047 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:04.049Z,1629052324.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:04.428Z,1629052324.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:04.825Z,1629052324.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00BA1,184,80,80,AF,FF
2021-08-15T18:32:04.826Z,1629052324.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:05.265Z,1629052325.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183205.17*55

2021-08-15T18:32:05.310Z,1629052325.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.119995 m, bearing: 58.076340 deg, deltaT: 4.511291 s, approachRate: -0.704900 m/s, LOS rate: 0.107912 deg/s, posRepo size: 4
2021-08-15T18:32:07.680Z,1629052327.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:08.059Z,1629052328.059 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:08.059Z,1629052328.059 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:08.059Z,1629052328.059 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:08.076Z,1629052328.076 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:08.465Z,1629052328.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00BA1,184,80,80,AF,FF
2021-08-15T18:32:08.465Z,1629052328.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:08.465Z,1629052328.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:08.467Z,1629052328.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:08.875Z,1629052328.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:09.293Z,1629052329.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00B74,184,80,80,75,FF
2021-08-15T18:32:09.294Z,1629052329.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:09.725Z,1629052329.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183209.59*53

2021-08-15T18:32:09.799Z,1629052329.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 57.536421 deg, deltaT: 4.409183 s, approachRate: -0.612358 m/s, LOS rate: -0.122453 deg/s, posRepo size: 4
2021-08-15T18:32:12.157Z,1629052332.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:12.497Z,1629052332.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:12.497Z,1629052332.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:12.497Z,1629052332.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:12.498Z,1629052332.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:12.901Z,1629052332.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00B74,184,80,80,75,FF
2021-08-15T18:32:12.901Z,1629052332.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:12.902Z,1629052332.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:12.903Z,1629052332.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:13.325Z,1629052333.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:13.729Z,1629052333.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00B43,185,80,80,A2,FF
2021-08-15T18:32:13.730Z,1629052333.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:14.133Z,1629052334.133 [Micromodem](INFO): Nmea in: $SNTTA,0.430557,0.430932,,,183214.03*5F

2021-08-15T18:32:14.219Z,1629052334.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 57.289195 deg, deltaT: 4.425709 s, approachRate: -0.664301 m/s, LOS rate: -0.055861 deg/s, posRepo size: 4
2021-08-15T18:32:16.563Z,1629052336.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:16.945Z,1629052336.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:16.945Z,1629052336.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:16.945Z,1629052336.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:16.946Z,1629052336.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:17.350Z,1629052337.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00B43,185,80,80,A2,FF
2021-08-15T18:32:17.350Z,1629052337.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:17.350Z,1629052337.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:17.354Z,1629052337.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:17.756Z,1629052337.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:18.161Z,1629052338.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00B18,184,80,80,AA,FF
2021-08-15T18:32:18.161Z,1629052338.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:18.602Z,1629052338.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183218.48*53

2021-08-15T18:32:18.624Z,1629052338.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 58.593365 deg, deltaT: 4.507214 s, approachRate: -0.572413 m/s, LOS rate: 0.289352 deg/s, posRepo size: 4
2021-08-15T18:32:21.035Z,1629052341.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:21.401Z,1629052341.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:21.401Z,1629052341.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:21.401Z,1629052341.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:21.402Z,1629052341.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:21.805Z,1629052341.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00B18,184,80,80,AA,FF
2021-08-15T18:32:21.805Z,1629052341.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:21.805Z,1629052341.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:21.807Z,1629052341.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:22.204Z,1629052342.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:22.601Z,1629052342.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00AEA,185,80,80,9F,FF
2021-08-15T18:32:22.602Z,1629052342.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:23.050Z,1629052343.050 [Micromodem](INFO): Nmea in: $SNTTA,0.021322,,,,183222.93*42

2021-08-15T18:32:23.076Z,1629052343.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.139999 m, bearing: 58.523233 deg, deltaT: 4.364454 s, approachRate: -0.632384 m/s, LOS rate: -0.016069 deg/s, posRepo size: 4
2021-08-15T18:32:25.458Z,1629052345.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:25.833Z,1629052345.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:25.833Z,1629052345.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:25.833Z,1629052345.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:25.834Z,1629052345.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:26.243Z,1629052346.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00AEA,185,80,80,9F,FF
2021-08-15T18:32:26.243Z,1629052346.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:26.243Z,1629052346.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:26.245Z,1629052346.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:26.649Z,1629052346.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:27.049Z,1629052347.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,00AB9,184,80,80,B1,FF
2021-08-15T18:32:27.050Z,1629052347.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:27.489Z,1629052347.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183227.37*57

2021-08-15T18:32:27.523Z,1629052347.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.200005 m, bearing: 58.675669 deg, deltaT: 4.458305 s, approachRate: -0.659442 m/s, LOS rate: 0.034192 deg/s, posRepo size: 4
2021-08-15T18:32:29.932Z,1629052349.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:30.277Z,1629052350.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:30.277Z,1629052350.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:30.277Z,1629052350.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:30.278Z,1629052350.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:30.689Z,1629052350.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,00AB9,184,80,80,B1,FF
2021-08-15T18:32:30.690Z,1629052350.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:30.690Z,1629052350.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:30.691Z,1629052350.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:31.093Z,1629052351.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:31.493Z,1629052351.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00A89,183,80,80,B1,FF
2021-08-15T18:32:31.494Z,1629052351.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:31.944Z,1629052351.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183231.81*5D

2021-08-15T18:32:32.038Z,1629052352.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 58.238434 deg, deltaT: 4.433184 s, approachRate: -0.649647 m/s, LOS rate: -0.098628 deg/s, posRepo size: 4
2021-08-15T18:32:34.031Z,1629052354.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:34.317Z,1629052354.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:34.317Z,1629052354.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:34.317Z,1629052354.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:34.318Z,1629052354.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:34.723Z,1629052354.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00A89,183,80,80,B1,FF
2021-08-15T18:32:34.723Z,1629052354.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:34.723Z,1629052354.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:34.742Z,1629052354.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:35.128Z,1629052355.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:35.533Z,1629052355.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,00A5D,183,80,80,99,FF
2021-08-15T18:32:35.534Z,1629052355.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:35.997Z,1629052355.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183235.86*5E

2021-08-15T18:32:36.079Z,1629052356.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.680000 m, bearing: 57.304030 deg, deltaT: 4.045712 s, approachRate: -0.652543 m/s, LOS rate: -0.230962 deg/s, posRepo size: 4
2021-08-15T18:32:38.062Z,1629052358.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:38.367Z,1629052358.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:38.368Z,1629052358.368 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:38.368Z,1629052358.368 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:38.369Z,1629052358.369 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:38.757Z,1629052358.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,00A5D,183,80,80,99,FF
2021-08-15T18:32:38.757Z,1629052358.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:38.757Z,1629052358.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:38.759Z,1629052358.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:39.165Z,1629052359.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:39.579Z,1629052359.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00A2F,183,80,80,85,FF
2021-08-15T18:32:39.579Z,1629052359.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:40.033Z,1629052360.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183239.88*5C

2021-08-15T18:32:40.119Z,1629052360.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.920006 m, bearing: 57.676726 deg, deltaT: 4.043852 s, approachRate: -0.682516 m/s, LOS rate: 0.092164 deg/s, posRepo size: 4
2021-08-15T18:32:42.112Z,1629052362.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:42.420Z,1629052362.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:42.420Z,1629052362.420 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:42.420Z,1629052362.420 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:42.421Z,1629052362.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:42.801Z,1629052362.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00A2F,183,80,80,85,FF
2021-08-15T18:32:42.801Z,1629052362.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:42.801Z,1629052362.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:42.803Z,1629052362.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:43.219Z,1629052363.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:43.625Z,1629052363.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00A03,184,80,80,99,FF
2021-08-15T18:32:43.625Z,1629052363.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:44.061Z,1629052364.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183243.93*5B

2021-08-15T18:32:44.131Z,1629052364.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.279999 m, bearing: 58.859182 deg, deltaT: 4.042394 s, approachRate: -0.653080 m/s, LOS rate: 0.292514 deg/s, posRepo size: 4
2021-08-15T18:32:46.475Z,1629052366.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:46.849Z,1629052366.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:46.849Z,1629052366.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:46.849Z,1629052366.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:46.850Z,1629052366.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:47.258Z,1629052367.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00A03,184,80,80,99,FF
2021-08-15T18:32:47.258Z,1629052367.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:47.258Z,1629052367.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:47.260Z,1629052367.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:47.664Z,1629052367.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:48.065Z,1629052368.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,009D4,183,80,80,AD,FF
2021-08-15T18:32:48.065Z,1629052368.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:48.513Z,1629052368.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183248.38*51

2021-08-15T18:32:48.554Z,1629052368.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 57.898066 deg, deltaT: 4.497856 s, approachRate: -0.626965 m/s, LOS rate: -0.213683 deg/s, posRepo size: 4
2021-08-15T18:32:50.938Z,1629052370.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:51.297Z,1629052371.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:51.297Z,1629052371.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:51.297Z,1629052371.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:51.298Z,1629052371.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:51.704Z,1629052371.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,009D4,183,80,80,AD,FF
2021-08-15T18:32:51.704Z,1629052371.704 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:51.705Z,1629052371.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:51.706Z,1629052371.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:52.109Z,1629052372.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:52.505Z,1629052372.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,009A5,183,80,80,BA,FF
2021-08-15T18:32:52.506Z,1629052372.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:52.959Z,1629052372.959 [Micromodem](INFO): Nmea in: $SNTTA,0.073522,,,,183252.83*45

2021-08-15T18:32:52.985Z,1629052372.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 58.413239 deg, deltaT: 4.382752 s, approachRate: -0.643430 m/s, LOS rate: 0.117546 deg/s, posRepo size: 4
2021-08-15T18:32:55.385Z,1629052375.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:32:55.733Z,1629052375.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:32:55.733Z,1629052375.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:32:55.734Z,1629052375.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:32:55.735Z,1629052375.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:32:56.137Z,1629052376.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,009A5,183,80,80,BA,FF
2021-08-15T18:32:56.138Z,1629052376.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:32:56.138Z,1629052376.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:32:56.141Z,1629052376.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:32:56.541Z,1629052376.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:32:56.962Z,1629052376.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00976,185,80,80,AD,FF
2021-08-15T18:32:56.962Z,1629052376.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:32:57.389Z,1629052377.389 [Micromodem](INFO): Nmea in: $SNTTA,0.081865,,,,183257.27*4D

2021-08-15T18:32:57.412Z,1629052377.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.820000 m, bearing: 56.257734 deg, deltaT: 4.496360 s, approachRate: -0.627176 m/s, LOS rate: -0.479389 deg/s, posRepo size: 4
2021-08-15T18:32:59.811Z,1629052379.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:00.174Z,1629052380.174 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:00.174Z,1629052380.174 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:00.174Z,1629052380.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:00.175Z,1629052380.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:00.577Z,1629052380.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00976,185,80,80,AD,FF
2021-08-15T18:33:00.577Z,1629052380.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:00.577Z,1629052380.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:00.579Z,1629052380.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:00.995Z,1629052380.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:01.405Z,1629052381.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00944,182,80,80,98,FF
2021-08-15T18:33:01.405Z,1629052381.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:01.838Z,1629052381.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183301.70*51

2021-08-15T18:33:01.902Z,1629052381.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.820000 m, bearing: 56.461906 deg, deltaT: 4.402520 s, approachRate: -0.681428 m/s, LOS rate: 0.046376 deg/s, posRepo size: 4
2021-08-15T18:33:04.326Z,1629052384.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:04.617Z,1629052384.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:04.617Z,1629052384.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:04.617Z,1629052384.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:04.618Z,1629052384.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:05.021Z,1629052385.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00944,182,80,80,98,FF
2021-08-15T18:33:05.021Z,1629052385.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:05.021Z,1629052385.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:05.023Z,1629052385.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:05.429Z,1629052385.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:05.837Z,1629052385.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,00912,183,80,80,99,FF
2021-08-15T18:33:05.837Z,1629052385.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:06.257Z,1629052386.257 [Micromodem](INFO): Nmea in: $SNTTA,0.371308,0.371201,,,183306.15*5D

2021-08-15T18:33:06.313Z,1629052386.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.820007 m, bearing: 57.651448 deg, deltaT: 4.506552 s, approachRate: -0.665696 m/s, LOS rate: 0.263958 deg/s, posRepo size: 4
2021-08-15T18:33:08.675Z,1629052388.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:09.069Z,1629052389.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:09.069Z,1629052389.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:09.069Z,1629052389.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:09.070Z,1629052389.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:09.465Z,1629052389.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,00912,183,80,80,99,FF
2021-08-15T18:33:09.465Z,1629052389.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:09.465Z,1629052389.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:09.467Z,1629052389.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:09.903Z,1629052389.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:10.285Z,1629052390.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,008E2,183,80,80,9B,FF
2021-08-15T18:33:10.286Z,1629052390.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:10.718Z,1629052390.718 [Micromodem](INFO): Nmea in: $SNTTA,0.068014,,,,183310.59*4F

2021-08-15T18:33:10.745Z,1629052390.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 57.929956 deg, deltaT: 4.453432 s, approachRate: -0.646692 m/s, LOS rate: 0.062538 deg/s, posRepo size: 4
2021-08-15T18:33:13.140Z,1629052393.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:13.509Z,1629052393.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:13.509Z,1629052393.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:13.509Z,1629052393.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:13.510Z,1629052393.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:13.940Z,1629052393.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,008E2,183,80,80,9B,FF
2021-08-15T18:33:13.941Z,1629052393.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:13.942Z,1629052393.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:13.978Z,1629052393.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:14.366Z,1629052394.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:14.757Z,1629052394.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,008A9,183,80,80,88,FF
2021-08-15T18:33:14.758Z,1629052394.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:15.178Z,1629052395.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183315.10*52

2021-08-15T18:33:15.215Z,1629052395.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.520004 m, bearing: 56.638900 deg, deltaT: 4.436277 s, approachRate: -0.770918 m/s, LOS rate: -0.291022 deg/s, posRepo size: 4
2021-08-15T18:33:17.614Z,1629052397.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:18.037Z,1629052398.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:18.037Z,1629052398.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:18.037Z,1629052398.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:18.038Z,1629052398.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:18.409Z,1629052398.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,008A9,183,80,80,88,FF
2021-08-15T18:33:18.409Z,1629052398.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:18.409Z,1629052398.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:18.411Z,1629052398.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:18.792Z,1629052398.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:19.193Z,1629052399.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00876,184,80,80,A2,FF
2021-08-15T18:33:19.194Z,1629052399.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:19.649Z,1629052399.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183319.53*59

2021-08-15T18:33:19.672Z,1629052399.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 55.382568 deg, deltaT: 4.430518 s, approachRate: -0.690665 m/s, LOS rate: -0.283563 deg/s, posRepo size: 4
2021-08-15T18:33:22.103Z,1629052402.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:22.434Z,1629052402.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:22.434Z,1629052402.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:22.434Z,1629052402.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:22.435Z,1629052402.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:22.833Z,1629052402.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00876,184,80,80,A2,FF
2021-08-15T18:33:22.833Z,1629052402.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:22.833Z,1629052402.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:22.835Z,1629052402.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:23.245Z,1629052403.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:23.657Z,1629052403.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,00843,183,80,80,A1,FF
2021-08-15T18:33:23.657Z,1629052403.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:24.089Z,1629052404.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183323.96*59

2021-08-15T18:33:24.154Z,1629052404.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 56.985487 deg, deltaT: 4.425317 s, approachRate: -0.691475 m/s, LOS rate: 0.362216 deg/s, posRepo size: 4
2021-08-15T18:33:26.495Z,1629052406.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:26.880Z,1629052406.880 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:26.881Z,1629052406.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:26.881Z,1629052406.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:26.883Z,1629052406.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:27.281Z,1629052407.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,00843,183,80,80,A1,FF
2021-08-15T18:33:27.281Z,1629052407.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:27.281Z,1629052407.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:27.283Z,1629052407.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:27.684Z,1629052407.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:28.097Z,1629052408.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,0080E,183,80,80,AA,FF
2021-08-15T18:33:28.097Z,1629052408.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:28.101Z,1629052408.101 [Micromodem](INFO): Nmea in: $SNTTA,0.242613,0.242613,,,183328.41*58

2021-08-15T18:33:28.548Z,1629052408.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.220001 m, bearing: 54.900292 deg, deltaT: 4.517486 s, approachRate: -0.703931 m/s, LOS rate: -0.461583 deg/s, posRepo size: 4
2021-08-15T18:33:30.970Z,1629052410.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:31.317Z,1629052411.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:31.317Z,1629052411.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:31.317Z,1629052411.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:31.318Z,1629052411.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:31.721Z,1629052411.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,0080E,183,80,80,AA,FF
2021-08-15T18:33:31.721Z,1629052411.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:31.721Z,1629052411.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:31.723Z,1629052411.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:32.141Z,1629052412.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:32.541Z,1629052412.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,007D5,183,80,80,A3,FF
2021-08-15T18:33:32.541Z,1629052412.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:32.978Z,1629052412.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183332.85*5B

2021-08-15T18:33:33.004Z,1629052413.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 54.934791 deg, deltaT: 4.481625 s, approachRate: -0.763116 m/s, LOS rate: 0.007698 deg/s, posRepo size: 4
2021-08-15T18:33:35.390Z,1629052415.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:35.769Z,1629052415.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:35.769Z,1629052415.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:35.769Z,1629052415.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:35.770Z,1629052415.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:36.173Z,1629052416.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,007D5,183,80,80,A3,FF
2021-08-15T18:33:36.173Z,1629052416.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:36.173Z,1629052416.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:36.175Z,1629052416.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:36.573Z,1629052416.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:36.973Z,1629052416.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,007A7,183,80,80,78,FF
2021-08-15T18:33:36.974Z,1629052416.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:37.417Z,1629052417.417 [Micromodem](INFO): Nmea in: $SNTTA,0.066003,,,,183337.30*4D

2021-08-15T18:33:37.446Z,1629052417.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 55.623080 deg, deltaT: 4.328235 s, approachRate: -0.637674 m/s, LOS rate: 0.159023 deg/s, posRepo size: 4
2021-08-15T18:33:39.892Z,1629052419.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:40.213Z,1629052420.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:40.213Z,1629052420.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:40.213Z,1629052420.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:40.214Z,1629052420.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:40.609Z,1629052420.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,007A7,183,80,80,78,FF
2021-08-15T18:33:40.609Z,1629052420.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:40.609Z,1629052420.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:40.611Z,1629052420.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:41.021Z,1629052421.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:41.423Z,1629052421.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00771,183,80,80,9D,FF
2021-08-15T18:33:41.423Z,1629052421.423 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:41.853Z,1629052421.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183341.73*56

2021-08-15T18:33:41.921Z,1629052421.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 55.097828 deg, deltaT: 4.438508 s, approachRate: -0.729975 m/s, LOS rate: -0.118340 deg/s, posRepo size: 4
2021-08-15T18:33:44.315Z,1629052424.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:44.657Z,1629052424.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:44.657Z,1629052424.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:44.657Z,1629052424.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:44.658Z,1629052424.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:45.053Z,1629052425.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00771,183,80,80,9D,FF
2021-08-15T18:33:45.053Z,1629052425.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:45.053Z,1629052425.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:45.055Z,1629052425.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:45.461Z,1629052425.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:45.862Z,1629052425.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,0073C,183,80,80,B0,FF
2021-08-15T18:33:45.863Z,1629052425.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:46.301Z,1629052426.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183346.18*5C

2021-08-15T18:33:46.402Z,1629052426.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 53.160694 deg, deltaT: 4.542788 s, approachRate: -0.700011 m/s, LOS rate: -0.426420 deg/s, posRepo size: 4
2021-08-15T18:33:48.715Z,1629052428.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:49.093Z,1629052429.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:49.093Z,1629052429.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:49.093Z,1629052429.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:49.094Z,1629052429.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:49.505Z,1629052429.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,0073C,183,80,80,B0,FF
2021-08-15T18:33:49.506Z,1629052429.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:49.506Z,1629052429.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:49.507Z,1629052429.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:49.978Z,1629052429.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:50.336Z,1629052430.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,0070C,183,80,80,9D,FF
2021-08-15T18:33:50.337Z,1629052430.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:50.342Z,1629052430.342 [Micromodem](INFO): Nmea in: $SNTTA,0.169371,0.169371,,,183350.63*57

2021-08-15T18:33:50.764Z,1629052430.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 53.596621 deg, deltaT: 4.423353 s, approachRate: -0.651091 m/s, LOS rate: 0.098551 deg/s, posRepo size: 4
2021-08-15T18:33:53.205Z,1629052433.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:53.573Z,1629052433.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:53.573Z,1629052433.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:53.573Z,1629052433.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:53.574Z,1629052433.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:54.008Z,1629052434.008 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,0070C,183,80,80,9D,FF
2021-08-15T18:33:54.009Z,1629052434.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:54.009Z,1629052434.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:54.011Z,1629052434.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:54.397Z,1629052434.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:54.805Z,1629052434.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,006D6,183,80,80,BA,FF
2021-08-15T18:33:54.806Z,1629052434.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:55.199Z,1629052435.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183355.14*52

2021-08-15T18:33:55.243Z,1629052435.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.500000 m, bearing: 54.346623 deg, deltaT: 4.416809 s, approachRate: -0.733561 m/s, LOS rate: 0.169806 deg/s, posRepo size: 4
2021-08-15T18:33:57.627Z,1629052437.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:33:58.037Z,1629052438.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:33:58.037Z,1629052438.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:33:58.037Z,1629052438.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:33:58.038Z,1629052438.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:33:58.421Z,1629052438.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,006D6,183,80,80,BA,FF
2021-08-15T18:33:58.421Z,1629052438.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:33:58.422Z,1629052438.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:33:58.423Z,1629052438.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:33:58.825Z,1629052438.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:33:59.233Z,1629052439.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,006A3,183,80,80,97,FF
2021-08-15T18:33:59.234Z,1629052439.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:33:59.666Z,1629052439.666 [Micromodem](INFO): Nmea in: $SNTTA,0.099913,,,,183359.55*4E

2021-08-15T18:33:59.696Z,1629052439.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 53.146682 deg, deltaT: 4.477133 s, approachRate: -0.683473 m/s, LOS rate: -0.268016 deg/s, posRepo size: 4
2021-08-15T18:34:02.120Z,1629052442.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:02.465Z,1629052442.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:02.465Z,1629052442.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:02.465Z,1629052442.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:02.466Z,1629052442.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:02.872Z,1629052442.872 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,006A3,183,80,80,97,FF
2021-08-15T18:34:02.873Z,1629052442.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:02.874Z,1629052442.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:02.884Z,1629052442.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:03.276Z,1629052443.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:03.681Z,1629052443.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00671,185,80,80,54,FF
2021-08-15T18:34:03.682Z,1629052443.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:04.085Z,1629052444.085 [Micromodem](INFO): Nmea in: $SNTTA,0.053574,0.439943,,,183404.01*55

2021-08-15T18:34:04.142Z,1629052444.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.439999 m, bearing: 52.038258 deg, deltaT: 4.399063 s, approachRate: -0.681964 m/s, LOS rate: -0.251968 deg/s, posRepo size: 4
2021-08-15T18:34:06.523Z,1629052446.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:06.933Z,1629052446.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:06.933Z,1629052446.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:06.933Z,1629052446.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:06.934Z,1629052446.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:07.305Z,1629052447.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00671,185,80,80,54,FF
2021-08-15T18:34:07.305Z,1629052447.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:07.305Z,1629052447.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:07.307Z,1629052447.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:07.721Z,1629052447.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:08.117Z,1629052448.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0063E,183,80,80,87,FF
2021-08-15T18:34:08.117Z,1629052448.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:08.121Z,1629052448.121 [Micromodem](INFO): Nmea in: $SNTTA,0.268415,0.268409,,,183408.43*52

2021-08-15T18:34:08.583Z,1629052448.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 51.756950 deg, deltaT: 4.508186 s, approachRate: -0.678765 m/s, LOS rate: -0.062399 deg/s, posRepo size: 4
2021-08-15T18:34:11.003Z,1629052451.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:11.346Z,1629052451.346 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:11.346Z,1629052451.346 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:11.346Z,1629052451.346 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:11.347Z,1629052451.347 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:11.769Z,1629052451.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0063E,183,80,80,87,FF
2021-08-15T18:34:11.770Z,1629052451.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:11.770Z,1629052451.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:11.773Z,1629052451.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:12.157Z,1629052452.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:12.570Z,1629052452.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE3,000,0060B,184,80,80,5C,FF
2021-08-15T18:34:12.570Z,1629052452.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:12.989Z,1629052452.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183412.90*5A

2021-08-15T18:34:13.040Z,1629052453.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 52.165283 deg, deltaT: 4.387415 s, approachRate: -0.697449 m/s, LOS rate: 0.093069 deg/s, posRepo size: 4
2021-08-15T18:34:15.415Z,1629052455.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:15.810Z,1629052455.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:15.810Z,1629052455.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:15.810Z,1629052455.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:15.811Z,1629052455.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:16.201Z,1629052456.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE3,000,0060B,184,80,80,5C,FF
2021-08-15T18:34:16.201Z,1629052456.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:16.201Z,1629052456.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:16.203Z,1629052456.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:16.676Z,1629052456.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:17.089Z,1629052457.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,005DD,185,80,80,85,FF
2021-08-15T18:34:17.089Z,1629052457.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:17.477Z,1629052457.477 [Micromodem](INFO): Nmea in: $SNTTA,,0.064483,,,183417.33*45

2021-08-15T18:34:17.526Z,1629052457.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 52.738186 deg, deltaT: 4.529491 s, approachRate: -0.609341 m/s, LOS rate: 0.126483 deg/s, posRepo size: 4
2021-08-15T18:34:20.016Z,1629052460.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:20.289Z,1629052460.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:20.289Z,1629052460.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:20.289Z,1629052460.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:20.290Z,1629052460.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:20.687Z,1629052460.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,005DD,185,80,80,85,FF
2021-08-15T18:34:20.687Z,1629052460.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:20.687Z,1629052460.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:20.691Z,1629052460.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:21.089Z,1629052461.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:21.498Z,1629052461.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,005A8,183,80,80,C3,FF
2021-08-15T18:34:21.499Z,1629052461.499 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:21.979Z,1629052461.979 [Micromodem](INFO): Nmea in: $SNTTA,0.081066,,,,183421.82*4E

2021-08-15T18:34:22.037Z,1629052462.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.380005 m, bearing: 51.213807 deg, deltaT: 4.442255 s, approachRate: -0.715851 m/s, LOS rate: -0.343154 deg/s, posRepo size: 4
2021-08-15T18:34:24.368Z,1629052464.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:24.725Z,1629052464.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:24.725Z,1629052464.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:24.725Z,1629052464.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:24.726Z,1629052464.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:25.133Z,1629052465.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,005A8,183,80,80,C3,FF
2021-08-15T18:34:25.133Z,1629052465.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:25.133Z,1629052465.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:25.135Z,1629052465.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:25.536Z,1629052465.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:25.949Z,1629052465.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,0056F,183,80,80,AA,FF
2021-08-15T18:34:25.950Z,1629052465.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:26.387Z,1629052466.387 [Micromodem](INFO): Nmea in: $SNTTA,0.069338,,,,183426.26*49

2021-08-15T18:34:26.465Z,1629052466.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 51.505149 deg, deltaT: 4.484615 s, approachRate: -0.762609 m/s, LOS rate: 0.064965 deg/s, posRepo size: 4
2021-08-15T18:34:28.779Z,1629052468.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:29.165Z,1629052469.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:29.165Z,1629052469.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:29.165Z,1629052469.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:29.166Z,1629052469.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:29.574Z,1629052469.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,0056F,183,80,80,AA,FF
2021-08-15T18:34:29.574Z,1629052469.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:29.574Z,1629052469.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:29.575Z,1629052469.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:30.017Z,1629052470.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:30.375Z,1629052470.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00541,182,80,80,6A,FF
2021-08-15T18:34:30.375Z,1629052470.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:30.813Z,1629052470.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183430.70*54

2021-08-15T18:34:30.947Z,1629052470.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.200001 m, bearing: 51.164363 deg, deltaT: 4.341504 s, approachRate: -0.635724 m/s, LOS rate: -0.078495 deg/s, posRepo size: 4
2021-08-15T18:34:33.261Z,1629052473.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:33.613Z,1629052473.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:33.613Z,1629052473.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:33.613Z,1629052473.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:33.614Z,1629052473.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:34.037Z,1629052474.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00541,182,80,80,6A,FF
2021-08-15T18:34:34.037Z,1629052474.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:34.037Z,1629052474.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:34.039Z,1629052474.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:34.421Z,1629052474.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:34.829Z,1629052474.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00510,185,80,80,7E,FF
2021-08-15T18:34:34.830Z,1629052474.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:35.253Z,1629052475.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183435.16*51

2021-08-15T18:34:35.286Z,1629052475.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 49.274535 deg, deltaT: 4.524503 s, approachRate: -0.649796 m/s, LOS rate: -0.417687 deg/s, posRepo size: 4
2021-08-15T18:34:37.679Z,1629052477.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:38.061Z,1629052478.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:38.061Z,1629052478.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:38.061Z,1629052478.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:38.062Z,1629052478.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:38.461Z,1629052478.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00510,185,80,80,7E,FF
2021-08-15T18:34:38.461Z,1629052478.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:38.461Z,1629052478.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:38.463Z,1629052478.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:38.901Z,1629052478.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:39.269Z,1629052479.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,004E5,182,80,80,73,FF
2021-08-15T18:34:39.269Z,1629052479.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:39.701Z,1629052479.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183439.59*56

2021-08-15T18:34:39.736Z,1629052479.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.680000 m, bearing: 50.520976 deg, deltaT: 4.369535 s, approachRate: -0.590451 m/s, LOS rate: 0.285257 deg/s, posRepo size: 4
2021-08-15T18:34:39.736Z,1629052479.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.68 m.
2021-08-15T18:34:40.122Z,1629052480.122 [PowerOnly](INFO): Powering up loadControl
2021-08-15T18:34:40.232Z,1629052480.232 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:34:40.233Z,1629052480.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:34:40.234Z,1629052480.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:34:40.235Z,1629052480.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:34:40.235Z,1629052480.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:34:40.235Z,1629052480.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:34:40.537Z,1629052480.537 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:34:40.537Z,1629052480.537 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:34:40.538Z,1629052480.538 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:34:40.538Z,1629052480.538 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:34:42.203Z,1629052482.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:42.501Z,1629052482.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:42.501Z,1629052482.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:42.501Z,1629052482.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:42.502Z,1629052482.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:42.933Z,1629052482.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,004E5,182,80,80,73,FF
2021-08-15T18:34:42.933Z,1629052482.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:42.933Z,1629052482.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:42.935Z,1629052482.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:43.317Z,1629052483.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:43.718Z,1629052483.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,004AE,183,80,80,91,FF
2021-08-15T18:34:43.718Z,1629052483.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:43.739Z,1629052483.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:34:44.141Z,1629052484.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183444.06*56

2021-08-15T18:34:44.208Z,1629052484.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 47.231868 deg, deltaT: 4.450497 s, approachRate: -0.741491 m/s, LOS rate: -0.739043 deg/s, posRepo size: 4
2021-08-15T18:34:44.209Z,1629052484.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m.
2021-08-15T18:34:46.560Z,1629052486.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:46.957Z,1629052486.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:46.957Z,1629052486.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:46.957Z,1629052486.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:46.958Z,1629052486.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:47.346Z,1629052487.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,004AE,183,80,80,91,FF
2021-08-15T18:34:47.346Z,1629052487.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:47.347Z,1629052487.347 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:47.350Z,1629052487.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:47.753Z,1629052487.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:48.245Z,1629052488.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,00483,185,80,80,7E,FF
2021-08-15T18:34:48.246Z,1629052488.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:48.370Z,1629052488.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:34:48.637Z,1629052488.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183448.48*50

2021-08-15T18:34:48.683Z,1629052488.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.799999 m, bearing: 46.039245 deg, deltaT: 4.631310 s, approachRate: -0.557077 m/s, LOS rate: -0.257513 deg/s, posRepo size: 4
2021-08-15T18:34:48.683Z,1629052488.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.80 m.
2021-08-15T18:34:51.101Z,1629052491.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:51.449Z,1629052491.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:51.449Z,1629052491.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:51.449Z,1629052491.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:51.450Z,1629052491.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:51.861Z,1629052491.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,00483,185,80,80,7E,FF
2021-08-15T18:34:51.862Z,1629052491.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:51.862Z,1629052491.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:51.868Z,1629052491.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:52.266Z,1629052492.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:52.669Z,1629052492.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00451,184,80,80,53,FF
2021-08-15T18:34:52.669Z,1629052492.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:52.718Z,1629052492.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:34:53.193Z,1629052493.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183452.99*57

2021-08-15T18:34:53.276Z,1629052493.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 43.884006 deg, deltaT: 4.347479 s, approachRate: -0.690055 m/s, LOS rate: -0.495745 deg/s, posRepo size: 4
2021-08-15T18:34:53.277Z,1629052493.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.80 m.
2021-08-15T18:34:53.277Z,1629052493.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.80 m.
2021-08-15T18:34:53.277Z,1629052493.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T18:34:55.511Z,1629052495.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:34:55.960Z,1629052495.960 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:34:55.961Z,1629052495.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:34:55.961Z,1629052495.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:34:55.963Z,1629052495.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:34:56.293Z,1629052496.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00451,184,80,80,53,FF
2021-08-15T18:34:56.293Z,1629052496.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:34:56.293Z,1629052496.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:34:56.295Z,1629052496.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:34:56.711Z,1629052496.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:34:57.109Z,1629052497.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00428,183,80,80,54,FF
2021-08-15T18:34:57.109Z,1629052497.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:34:57.164Z,1629052497.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:34:57.548Z,1629052497.548 [Micromodem](INFO): Nmea in: $SNTTA,0.086033,,,,183457.42*44

2021-08-15T18:34:57.570Z,1629052497.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 41.212542 deg, deltaT: 4.445770 s, approachRate: -0.553335 m/s, LOS rate: -0.600900 deg/s, posRepo size: 4
2021-08-15T18:35:00.077Z,1629052500.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:00.333Z,1629052500.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:00.334Z,1629052500.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:00.334Z,1629052500.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:00.335Z,1629052500.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:00.733Z,1629052500.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00428,183,80,80,54,FF
2021-08-15T18:35:00.733Z,1629052500.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:00.733Z,1629052500.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:00.735Z,1629052500.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:01.141Z,1629052501.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:01.550Z,1629052501.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,003FA,183,80,80,56,FF
2021-08-15T18:35:01.550Z,1629052501.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:01.570Z,1629052501.570 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:02.013Z,1629052502.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183501.86*5E

2021-08-15T18:35:02.059Z,1629052502.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 40.091438 deg, deltaT: 4.406465 s, approachRate: -0.626352 m/s, LOS rate: -0.254422 deg/s, posRepo size: 4
2021-08-15T18:35:04.084Z,1629052504.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:04.377Z,1629052504.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:04.377Z,1629052504.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:04.377Z,1629052504.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:04.378Z,1629052504.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:04.773Z,1629052504.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,003FA,183,80,80,56,FF
2021-08-15T18:35:04.773Z,1629052504.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:04.773Z,1629052504.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:04.775Z,1629052504.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:05.190Z,1629052505.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:05.593Z,1629052505.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,003CD,182,80,80,A7,FF
2021-08-15T18:35:05.593Z,1629052505.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:05.646Z,1629052505.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:06.061Z,1629052506.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183505.90*5D

2021-08-15T18:35:06.106Z,1629052506.106 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T18:35:06.139Z,1629052506.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 39.471803 deg, deltaT: 4.075479 s, approachRate: -0.662499 m/s, LOS rate: -0.152040 deg/s, posRepo size: 4
2021-08-15T18:35:08.439Z,1629052508.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:08.813Z,1629052508.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:08.813Z,1629052508.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:08.813Z,1629052508.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:08.814Z,1629052508.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:09.221Z,1629052509.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,003CD,182,80,80,A7,FF
2021-08-15T18:35:09.221Z,1629052509.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:09.222Z,1629052509.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:09.223Z,1629052509.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:09.636Z,1629052509.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:10.053Z,1629052510.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0039F,183,80,80,7B,FF
2021-08-15T18:35:10.053Z,1629052510.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:10.123Z,1629052510.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:10.469Z,1629052510.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183510.35*56

2021-08-15T18:35:10.516Z,1629052510.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 38.227561 deg, deltaT: 4.476594 s, approachRate: -0.616540 m/s, LOS rate: -0.277944 deg/s, posRepo size: 4
2021-08-15T18:35:12.934Z,1629052512.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:13.277Z,1629052513.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:13.277Z,1629052513.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:13.277Z,1629052513.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:13.278Z,1629052513.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:13.679Z,1629052513.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0039F,183,80,80,7B,FF
2021-08-15T18:35:13.679Z,1629052513.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:13.679Z,1629052513.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:13.681Z,1629052513.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:14.093Z,1629052514.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:14.481Z,1629052514.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00373,183,80,80,89,FF
2021-08-15T18:35:14.482Z,1629052514.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:14.526Z,1629052514.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:14.965Z,1629052514.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183514.81*5D

2021-08-15T18:35:15.013Z,1629052515.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.479998 m, bearing: 37.074069 deg, deltaT: 4.403373 s, approachRate: -0.599541 m/s, LOS rate: -0.261957 deg/s, posRepo size: 4
2021-08-15T18:35:17.346Z,1629052517.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:17.721Z,1629052517.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:17.721Z,1629052517.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:17.721Z,1629052517.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:17.722Z,1629052517.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:18.121Z,1629052518.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00373,183,80,80,89,FF
2021-08-15T18:35:18.121Z,1629052518.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:18.121Z,1629052518.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:18.123Z,1629052518.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:18.533Z,1629052518.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:18.953Z,1629052518.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00342,183,80,80,A8,FF
2021-08-15T18:35:18.953Z,1629052518.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:19.037Z,1629052519.037 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:19.378Z,1629052519.378 [Micromodem](INFO): Nmea in: $SNTTA,0.037659,,,,183519.25*4E

2021-08-15T18:35:19.427Z,1629052519.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 36.427772 deg, deltaT: 4.511229 s, approachRate: -0.651706 m/s, LOS rate: -0.143264 deg/s, posRepo size: 4
2021-08-15T18:35:21.779Z,1629052521.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:22.165Z,1629052522.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:22.166Z,1629052522.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:22.166Z,1629052522.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:22.167Z,1629052522.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:22.581Z,1629052522.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00342,183,80,80,A8,FF
2021-08-15T18:35:22.581Z,1629052522.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:22.581Z,1629052522.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:22.583Z,1629052522.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:22.977Z,1629052522.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:23.393Z,1629052523.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00313,183,80,80,A1,FF
2021-08-15T18:35:23.393Z,1629052523.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:23.438Z,1629052523.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:23.809Z,1629052523.809 [Micromodem](INFO): Nmea in: $SNTTA,0.042629,,,,183523.71*43

2021-08-15T18:35:23.854Z,1629052523.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 34.973646 deg, deltaT: 4.400594 s, approachRate: -0.640823 m/s, LOS rate: -0.330439 deg/s, posRepo size: 4
2021-08-15T18:35:26.268Z,1629052526.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:26.621Z,1629052526.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:26.621Z,1629052526.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:26.621Z,1629052526.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:26.622Z,1629052526.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:27.005Z,1629052527.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00313,183,80,80,A1,FF
2021-08-15T18:35:27.005Z,1629052527.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:27.005Z,1629052527.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:27.007Z,1629052527.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:27.431Z,1629052527.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:27.827Z,1629052527.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,002EA,184,80,80,C3,FF
2021-08-15T18:35:27.827Z,1629052527.827 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:27.851Z,1629052527.851 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:28.261Z,1629052528.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183528.14*5E

2021-08-15T18:35:28.356Z,1629052528.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.259999 m, bearing: 32.462096 deg, deltaT: 4.413593 s, approachRate: -0.557369 m/s, LOS rate: -0.569049 deg/s, posRepo size: 4
2021-08-15T18:35:30.687Z,1629052530.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:31.060Z,1629052531.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:31.060Z,1629052531.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:31.061Z,1629052531.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:31.062Z,1629052531.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:31.466Z,1629052531.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,002EA,184,80,80,C3,FF
2021-08-15T18:35:31.466Z,1629052531.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:31.467Z,1629052531.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:31.493Z,1629052531.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:31.899Z,1629052531.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:32.270Z,1629052532.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,002CA,185,80,80,A7,FF
2021-08-15T18:35:32.271Z,1629052532.271 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:32.370Z,1629052532.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:32.679Z,1629052532.679 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183532.62*54

2021-08-15T18:35:32.721Z,1629052532.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 30.978111 deg, deltaT: 4.518648 s, approachRate: -0.424906 m/s, LOS rate: -0.328413 deg/s, posRepo size: 4
2021-08-15T18:35:35.113Z,1629052535.113 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T18:35:35.129Z,1629052535.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:35.489Z,1629052535.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:35.489Z,1629052535.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:35.489Z,1629052535.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:35.490Z,1629052535.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:35.901Z,1629052535.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,002CA,185,80,80,A7,FF
2021-08-15T18:35:35.901Z,1629052535.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:35.901Z,1629052535.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:35.903Z,1629052535.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:36.305Z,1629052536.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:36.701Z,1629052536.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,002B4,186,80,80,66,FF
2021-08-15T18:35:36.702Z,1629052536.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:36.722Z,1629052536.722 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:37.158Z,1629052537.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183537.03*56

2021-08-15T18:35:37.234Z,1629052537.234 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T18:35:37.234Z,1629052537.234 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:35:37.235Z,1629052537.235 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T18:35:37.235Z,1629052537.235 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:35:37.235Z,1629052537.235 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T18:35:37.240Z,1629052537.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-08-15T18:35:37.240Z,1629052537.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T18:35:37.240Z,1629052537.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T18:35:37.240Z,1629052537.240 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T18:35:37.243Z,1629052537.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 17.183281 deg, deltaT: 4.351651 s, approachRate: -0.303333 m/s, LOS rate: -3.170022 deg/s, posRepo size: 4
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T183537: (41.552319, -70.708603)
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T18:35:37.555Z,1629052537.555 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T18:35:37.556Z,1629052537.556 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:35:39.551Z,1629052539.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:39.956Z,1629052539.956 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:39.956Z,1629052539.956 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:39.957Z,1629052539.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:39.959Z,1629052539.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:40.043Z,1629052540.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:35:40.338Z,1629052540.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,002B4,186,80,80,66,FF
2021-08-15T18:35:40.338Z,1629052540.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:40.338Z,1629052540.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:40.341Z,1629052540.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:40.753Z,1629052540.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:41.149Z,1629052541.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,002C1,184,80,80,72,FF
2021-08-15T18:35:41.149Z,1629052541.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:41.213Z,1629052541.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:41.581Z,1629052541.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183541.47*57

2021-08-15T18:35:41.614Z,1629052541.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.800000 m, bearing: 30.743293 deg, deltaT: 4.491328 s, approachRate: 0.173668 m/s, LOS rate: 3.019154 deg/s, posRepo size: 4
2021-08-15T18:35:44.086Z,1629052544.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:44.393Z,1629052544.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:44.393Z,1629052544.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:44.393Z,1629052544.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:44.394Z,1629052544.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:44.789Z,1629052544.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,002C1,184,80,80,72,FF
2021-08-15T18:35:44.789Z,1629052544.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:44.789Z,1629052544.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:44.791Z,1629052544.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:45.194Z,1629052545.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:45.213Z,1629052545.213 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:35:45.597Z,1629052545.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,002FE,185,80,80,5D,FF
2021-08-15T18:35:45.598Z,1629052545.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:45.618Z,1629052545.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:46.075Z,1629052546.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183545.92*5B

2021-08-15T18:35:46.179Z,1629052546.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 18.824662 deg, deltaT: 4.404821 s, approachRate: 0.830908 m/s, LOS rate: -2.705815 deg/s, posRepo size: 4
2021-08-15T18:35:48.149Z,1629052548.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:48.461Z,1629052548.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:48.461Z,1629052548.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:48.461Z,1629052548.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:48.462Z,1629052548.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:48.864Z,1629052548.864 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,002FE,185,80,80,5D,FF
2021-08-15T18:35:48.865Z,1629052548.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:48.866Z,1629052548.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:48.872Z,1629052548.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:49.268Z,1629052549.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:49.305Z,1629052549.305 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T18:35:49.673Z,1629052549.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00308,184,80,80,94,FF
2021-08-15T18:35:49.674Z,1629052549.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:49.694Z,1629052549.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:50.116Z,1629052550.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183550.00*54

2021-08-15T18:35:50.148Z,1629052550.148 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:35:50.206Z,1629052550.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 21.391084 deg, deltaT: 4.075831 s, approachRate: 0.147209 m/s, LOS rate: 0.629668 deg/s, posRepo size: 4
2021-08-15T18:35:52.199Z,1629052552.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:52.497Z,1629052552.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:52.497Z,1629052552.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:52.498Z,1629052552.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:52.499Z,1629052552.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:52.917Z,1629052552.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00308,184,80,80,94,FF
2021-08-15T18:35:52.917Z,1629052552.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:52.917Z,1629052552.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:52.919Z,1629052552.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:53.309Z,1629052553.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:53.713Z,1629052553.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00331,184,80,80,75,FF
2021-08-15T18:35:53.714Z,1629052553.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:53.735Z,1629052553.735 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:54.137Z,1629052554.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183554.04*54

2021-08-15T18:35:54.226Z,1629052554.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 28.657705 deg, deltaT: 4.041310 s, approachRate: 0.608714 m/s, LOS rate: 1.798086 deg/s, posRepo size: 4
2021-08-15T18:35:56.563Z,1629052556.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:35:56.961Z,1629052556.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:35:56.961Z,1629052556.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:35:56.961Z,1629052556.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:35:56.962Z,1629052556.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:35:57.016Z,1629052557.016 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:35:57.347Z,1629052557.347 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00331,184,80,80,75,FF
2021-08-15T18:35:57.347Z,1629052557.347 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:35:57.347Z,1629052557.347 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:35:57.350Z,1629052557.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:35:57.758Z,1629052557.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:35:58.153Z,1629052558.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,0036B,186,80,80,3F,FF
2021-08-15T18:35:58.153Z,1629052558.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:35:58.257Z,1629052558.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:35:58.601Z,1629052558.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183558.48*50

2021-08-15T18:35:58.623Z,1629052558.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 34.325952 deg, deltaT: 4.522229 s, approachRate: 0.769532 m/s, LOS rate: 1.253419 deg/s, posRepo size: 4
2021-08-15T18:36:00.223Z,1629052560.223 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:36:01.026Z,1629052561.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:01.393Z,1629052561.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:01.393Z,1629052561.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:01.393Z,1629052561.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:01.394Z,1629052561.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:01.793Z,1629052561.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,0036B,186,80,80,3F,FF
2021-08-15T18:36:01.793Z,1629052561.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:01.793Z,1629052561.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:01.795Z,1629052561.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:02.196Z,1629052562.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:02.601Z,1629052562.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00392,186,80,80,6D,FF
2021-08-15T18:36:02.601Z,1629052562.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:02.697Z,1629052562.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:36:03.050Z,1629052563.050 [Micromodem](INFO): Nmea in: $SNTTA,0.030711,,,,183602.92*41

2021-08-15T18:36:03.077Z,1629052563.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 39.414040 deg, deltaT: 4.440271 s, approachRate: 0.526994 m/s, LOS rate: 1.145896 deg/s, posRepo size: 4
2021-08-15T18:36:05.050Z,1629052565.050 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:36:05.443Z,1629052565.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:05.829Z,1629052565.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:05.829Z,1629052565.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:05.829Z,1629052565.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:05.830Z,1629052565.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:06.233Z,1629052566.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00392,186,80,80,6D,FF
2021-08-15T18:36:06.233Z,1629052566.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:06.233Z,1629052566.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:06.235Z,1629052566.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:06.645Z,1629052566.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:07.045Z,1629052567.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,003B2,187,80,80,89,FF
2021-08-15T18:36:07.045Z,1629052567.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:07.100Z,1629052567.100 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:36:07.490Z,1629052567.490 [Micromodem](INFO): Nmea in: $SNTTA,,0.098434,,,183607.36*4C

2021-08-15T18:36:07.512Z,1629052567.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 45.239860 deg, deltaT: 4.402517 s, approachRate: 0.436115 m/s, LOS rate: 1.323293 deg/s, posRepo size: 4
2021-08-15T18:36:07.512Z,1629052567.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.26 m. Rolling out.
2021-08-15T18:36:07.513Z,1629052567.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T18:36:07.921Z,1629052567.921 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T18:36:07.922Z,1629052567.922 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T18:36:09.940Z,1629052569.940 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T18:36:10.018Z,1629052570.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:10.283Z,1629052570.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:10.283Z,1629052570.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:10.283Z,1629052570.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:10.284Z,1629052570.284 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:10.689Z,1629052570.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,003B2,187,80,80,89,FF
2021-08-15T18:36:10.690Z,1629052570.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:10.690Z,1629052570.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:10.692Z,1629052570.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:11.089Z,1629052571.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:11.926Z,1629052571.926 [Micromodem](INFO): Nmea in: $SNTTA,0.021536,,,,183611.82*45

2021-08-15T18:36:12.718Z,1629052572.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:14.321Z,1629052574.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,89,FF
2021-08-15T18:36:14.321Z,1629052574.321 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,89,FF
2021-08-15T18:36:14.321Z,1629052574.321 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:36:14.726Z,1629052574.726 [PowerOnly](INFO): Powering down loadControl
2021-08-15T18:36:15.567Z,1629052575.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:15.943Z,1629052575.943 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:15.944Z,1629052575.944 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:15.945Z,1629052575.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:15.946Z,1629052575.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:16.334Z,1629052576.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,89,FF
2021-08-15T18:36:16.334Z,1629052576.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:16.335Z,1629052576.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:16.337Z,1629052576.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:16.757Z,1629052576.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:17.566Z,1629052577.566 [Micromodem](INFO): Nmea in: $SNTTA,0.023061,,,,183617.46*4E

2021-08-15T18:36:18.395Z,1629052578.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:20.009Z,1629052580.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,092DD,184,80,80,3B,FF
2021-08-15T18:36:20.009Z,1629052580.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:20.101Z,1629052580.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:36:20.419Z,1629052580.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2218.320068 m, bearing: 39.259910 deg, deltaT: 13.001124 s, approachRate: 169.143845 m/s, LOS rate: -0.459956 deg/s, posRepo size: 4
2021-08-15T18:36:20.419Z,1629052580.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2218.32 m. Resuming terminal guidance.
2021-08-15T18:36:20.419Z,1629052580.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T18:36:20.809Z,1629052580.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:36:20.809Z,1629052580.809 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:20.810Z,1629052580.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:36:20.810Z,1629052580.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:36:20.810Z,1629052580.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:36:20.810Z,1629052580.810 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:36:20.813Z,1629052580.813 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T18:36:20.813Z,1629052580.813 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:36:20.814Z,1629052580.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T18:36:20.814Z,1629052580.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T18:36:20.814Z,1629052580.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T18:36:20.814Z,1629052580.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T18:36:20.814Z,1629052580.814 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T18:36:21.222Z,1629052581.222 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:36:21.223Z,1629052581.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:21.223Z,1629052581.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:36:21.223Z,1629052581.223 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:22.840Z,1629052582.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:23.225Z,1629052583.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:23.225Z,1629052583.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:23.225Z,1629052583.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:23.226Z,1629052583.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:23.637Z,1629052583.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,092DD,184,80,80,3B,FF
2021-08-15T18:36:23.638Z,1629052583.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:23.638Z,1629052583.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:23.639Z,1629052583.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:24.052Z,1629052584.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:24.872Z,1629052584.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183624.76*55

2021-08-15T18:36:24.923Z,1629052584.923 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T18:36:25.649Z,1629052585.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,03656,185,80,80,4A,FF
2021-08-15T18:36:25.650Z,1629052585.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:26.124Z,1629052586.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 797.100037 m, bearing: 43.701203 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T18:36:26.125Z,1629052586.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 43.701203deg and heading rate command to 0 deg/s.
2021-08-15T18:36:28.507Z,1629052588.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:28.891Z,1629052588.891 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:28.892Z,1629052588.892 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:28.893Z,1629052588.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:28.894Z,1629052588.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:29.301Z,1629052589.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,03656,185,80,80,4A,FF
2021-08-15T18:36:29.301Z,1629052589.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:29.301Z,1629052589.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:29.303Z,1629052589.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:29.696Z,1629052589.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:30.109Z,1629052590.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,0044D,183,80,80,49,FF
2021-08-15T18:36:30.109Z,1629052590.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:30.113Z,1629052590.113 [Micromodem](INFO): Nmea in: $SNTTA,0.269664,0.267595,,,183630.43*55

2021-08-15T18:36:30.527Z,1629052590.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 40.291662 deg, deltaT: 4.512879 s, approachRate: -170.299286 m/s, LOS rate: -0.755514 deg/s, posRepo size: 2
2021-08-15T18:36:30.528Z,1629052590.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-08-15T18:36:31.029Z,1629052591.029 [PowerOnly](INFO): Powering up loadControl
2021-08-15T18:36:31.077Z,1629052591.077 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:36:31.078Z,1629052591.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:36:31.078Z,1629052591.078 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:36:31.079Z,1629052591.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:36:31.079Z,1629052591.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:36:31.079Z,1629052591.079 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:36:31.388Z,1629052591.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:36:31.388Z,1629052591.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:36:31.388Z,1629052591.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:36:31.388Z,1629052591.388 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:36:33.014Z,1629052593.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:33.340Z,1629052593.340 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:33.340Z,1629052593.340 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:33.340Z,1629052593.340 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:33.341Z,1629052593.341 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:33.735Z,1629052593.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,0044D,183,80,80,49,FF
2021-08-15T18:36:33.736Z,1629052593.736 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:33.737Z,1629052593.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:33.740Z,1629052593.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:34.156Z,1629052594.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:35.006Z,1629052595.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183634.87*5A

2021-08-15T18:36:35.902Z,1629052595.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:37.404Z,1629052597.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:37.404Z,1629052597.404 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:37.404Z,1629052597.404 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:36:38.619Z,1629052598.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:38.982Z,1629052598.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:38.982Z,1629052598.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:38.982Z,1629052598.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:38.983Z,1629052598.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:39.409Z,1629052599.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:39.409Z,1629052599.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:39.409Z,1629052599.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:39.411Z,1629052599.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:39.795Z,1629052599.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:40.603Z,1629052600.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183640.54*57

2021-08-15T18:36:41.473Z,1629052601.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:43.027Z,1629052603.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:43.028Z,1629052603.028 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:43.028Z,1629052603.028 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:36:44.291Z,1629052604.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:44.637Z,1629052604.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:44.637Z,1629052604.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:44.637Z,1629052604.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:44.638Z,1629052604.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:45.050Z,1629052605.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,183,80,80,49,FF
2021-08-15T18:36:45.050Z,1629052605.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:45.050Z,1629052605.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:45.051Z,1629052605.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:45.452Z,1629052605.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:45.852Z,1629052605.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0025D,187,80,80,6E,FF
2021-08-15T18:36:45.853Z,1629052605.853 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T18:36:46.290Z,1629052606.290 [Micromodem](INFO): Nmea in: $SNTTA,0.023839,,,,183646.18*44

2021-08-15T18:36:47.112Z,1629052607.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:50.019Z,1629052610.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:50.301Z,1629052610.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:50.301Z,1629052610.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:50.301Z,1629052610.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:50.302Z,1629052610.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:50.697Z,1629052610.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0025D,187,80,80,6E,FF
2021-08-15T18:36:50.697Z,1629052610.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:50.697Z,1629052610.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:50.699Z,1629052610.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:51.105Z,1629052611.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:51.505Z,1629052611.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00528,186,80,80,3C,FF
2021-08-15T18:36:51.505Z,1629052611.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:51.526Z,1629052611.526 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:36:51.994Z,1629052611.994 [Micromodem](INFO): Nmea in: $SNTTA,0.049362,,,,183651.82*48

2021-08-15T18:36:52.097Z,1629052612.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 32.636649 deg, deltaT: 21.320110 s, approachRate: 0.616320 m/s, LOS rate: -0.359051 deg/s, posRepo size: 3
2021-08-15T18:36:52.397Z,1629052612.397 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:36:52.397Z,1629052612.397 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:52.397Z,1629052612.397 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:36:52.398Z,1629052612.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:36:52.398Z,1629052612.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:36:52.398Z,1629052612.398 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:36:52.800Z,1629052612.800 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:36:52.801Z,1629052612.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:52.801Z,1629052612.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:36:52.801Z,1629052612.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:36:54.070Z,1629052614.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:54.366Z,1629052614.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:54.366Z,1629052614.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:54.367Z,1629052614.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:54.367Z,1629052614.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:54.778Z,1629052614.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00528,186,80,80,3C,FF
2021-08-15T18:36:54.778Z,1629052614.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:54.778Z,1629052614.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:54.779Z,1629052614.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:55.187Z,1629052615.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:55.577Z,1629052615.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,0054D,189,80,80,5E,FF
2021-08-15T18:36:55.578Z,1629052615.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:36:56.047Z,1629052616.047 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183655.90*5B

2021-08-15T18:36:56.151Z,1629052616.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 10.901285 deg, deltaT: 4.071854 s, approachRate: 0.545206 m/s, LOS rate: -5.337952 deg/s, posRepo size: 4
2021-08-15T18:36:58.111Z,1629052618.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:36:58.409Z,1629052618.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:36:58.409Z,1629052618.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:36:58.409Z,1629052618.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:36:58.410Z,1629052618.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:36:58.809Z,1629052618.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,0054D,189,80,80,5E,FF
2021-08-15T18:36:58.809Z,1629052618.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:36:58.809Z,1629052618.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:36:58.811Z,1629052618.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:36:59.217Z,1629052619.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:36:59.617Z,1629052619.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00577,186,80,80,62,FF
2021-08-15T18:36:59.617Z,1629052619.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:00.065Z,1629052620.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183659.94*53

2021-08-15T18:37:00.166Z,1629052620.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 45.948725 deg, deltaT: 4.039368 s, approachRate: 0.623859 m/s, LOS rate: 8.676466 deg/s, posRepo size: 4
2021-08-15T18:37:02.143Z,1629052622.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:02.461Z,1629052622.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:02.461Z,1629052622.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:02.461Z,1629052622.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:02.462Z,1629052622.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:02.873Z,1629052622.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00577,186,80,80,62,FF
2021-08-15T18:37:02.873Z,1629052622.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:02.873Z,1629052622.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:02.878Z,1629052622.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:03.268Z,1629052623.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:03.673Z,1629052623.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,0059C,188,80,80,6C,FF
2021-08-15T18:37:03.673Z,1629052623.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:04.103Z,1629052624.103 [Micromodem](INFO): Nmea in: $SNTTA,0.051109,,,,183704.01*44

2021-08-15T18:37:04.183Z,1629052624.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 331.028069 deg, deltaT: 4.056386 s, approachRate: 0.547285 m/s, LOS rate: -18.469807 deg/s, posRepo size: 4
2021-08-15T18:37:04.185Z,1629052624.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.469807 deg/s. Setting heading cmd to target bearing of 331.028069deg and heading rate command to 0 deg/s.
2021-08-15T18:37:06.534Z,1629052626.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:06.937Z,1629052626.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:06.937Z,1629052626.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:06.937Z,1629052626.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:06.938Z,1629052626.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:07.309Z,1629052627.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,0059C,188,80,80,6C,FF
2021-08-15T18:37:07.310Z,1629052627.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:07.310Z,1629052627.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:07.312Z,1629052627.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:07.713Z,1629052627.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:08.115Z,1629052628.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,005C0,187,80,80,26,FF
2021-08-15T18:37:08.115Z,1629052628.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:08.565Z,1629052628.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183708.44*5B

2021-08-15T18:37:08.587Z,1629052628.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 31.024693 deg, deltaT: 4.517448 s, approachRate: 0.478147 m/s, LOS rate: 13.281087 deg/s, posRepo size: 4
2021-08-15T18:37:08.589Z,1629052628.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.281087 deg/s. Setting heading cmd to target bearing of 31.024693deg and heading rate command to 0 deg/s.
2021-08-15T18:37:11.005Z,1629052631.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:11.350Z,1629052631.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:11.350Z,1629052631.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:11.350Z,1629052631.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:11.351Z,1629052631.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:11.761Z,1629052631.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,005C0,187,80,80,26,FF
2021-08-15T18:37:11.761Z,1629052631.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:11.761Z,1629052631.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:11.763Z,1629052631.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:12.153Z,1629052632.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:12.561Z,1629052632.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,005EF,186,80,80,76,FF
2021-08-15T18:37:12.562Z,1629052632.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:13.005Z,1629052633.005 [Micromodem](INFO): Nmea in: $SNTTA,0.127347,,,,183712.89*4B

2021-08-15T18:37:13.032Z,1629052633.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 42.028490 deg, deltaT: 4.400885 s, approachRate: 0.640779 m/s, LOS rate: 2.500360 deg/s, posRepo size: 4
2021-08-15T18:37:15.422Z,1629052635.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:15.789Z,1629052635.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:15.789Z,1629052635.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:15.789Z,1629052635.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:15.790Z,1629052635.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:16.201Z,1629052636.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,005EF,186,80,80,76,FF
2021-08-15T18:37:16.201Z,1629052636.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:16.201Z,1629052636.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:16.203Z,1629052636.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:16.613Z,1629052636.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:17.001Z,1629052637.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00617,187,80,80,4F,FF
2021-08-15T18:37:17.001Z,1629052637.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:17.442Z,1629052637.442 [Micromodem](INFO): Nmea in: $SNTTA,0.051731,,,,183717.33*4A

2021-08-15T18:37:17.459Z,1629052637.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 6.519238 deg, deltaT: 4.451911 s, approachRate: 0.539094 m/s, LOS rate: -7.976182 deg/s, posRepo size: 4
2021-08-15T18:37:19.911Z,1629052639.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:20.237Z,1629052640.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:20.237Z,1629052640.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:20.238Z,1629052640.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:20.239Z,1629052640.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:20.258Z,1629052640.258 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T18:37:20.637Z,1629052640.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00617,187,80,80,4F,FF
2021-08-15T18:37:20.637Z,1629052640.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:20.637Z,1629052640.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:20.639Z,1629052640.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:21.049Z,1629052641.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:21.445Z,1629052641.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,0063C,186,80,80,57,FF
2021-08-15T18:37:21.446Z,1629052641.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:21.909Z,1629052641.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183721.77*50

2021-08-15T18:37:22.007Z,1629052642.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 48.165674 deg, deltaT: 4.445552 s, approachRate: 0.499378 m/s, LOS rate: 9.368113 deg/s, posRepo size: 4
2021-08-15T18:37:24.327Z,1629052644.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:24.686Z,1629052644.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:24.686Z,1629052644.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:24.686Z,1629052644.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:24.687Z,1629052644.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:25.077Z,1629052645.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,0063C,186,80,80,57,FF
2021-08-15T18:37:25.077Z,1629052645.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:25.078Z,1629052645.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:25.079Z,1629052645.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:25.497Z,1629052645.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:25.909Z,1629052645.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00668,188,80,80,77,FF
2021-08-15T18:37:25.909Z,1629052645.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:26.326Z,1629052646.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183726.21*54

2021-08-15T18:37:26.401Z,1629052646.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 353.086356 deg, deltaT: 4.500920 s, approachRate: 0.586546 m/s, LOS rate: -12.237347 deg/s, posRepo size: 4
2021-08-15T18:37:26.401Z,1629052646.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.237347 deg/s. Setting heading cmd to target bearing of 353.086356deg and heading rate command to 0 deg/s.
2021-08-15T18:37:28.735Z,1629052648.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:29.125Z,1629052649.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:29.125Z,1629052649.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:29.125Z,1629052649.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:29.126Z,1629052649.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:29.531Z,1629052649.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00668,188,80,80,77,FF
2021-08-15T18:37:29.531Z,1629052649.531 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:29.531Z,1629052649.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:29.533Z,1629052649.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:30.007Z,1629052650.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:30.026Z,1629052650.026 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:37:30.338Z,1629052650.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,0068C,186,80,80,5B,FF
2021-08-15T18:37:30.338Z,1629052650.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:30.781Z,1629052650.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183730.66*50

2021-08-15T18:37:30.797Z,1629052650.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.059998 m, bearing: 42.862343 deg, deltaT: 4.395882 s, approachRate: 0.491368 m/s, LOS rate: 11.323320 deg/s, posRepo size: 4
2021-08-15T18:37:33.198Z,1629052653.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:33.573Z,1629052653.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:33.573Z,1629052653.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:33.573Z,1629052653.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:33.574Z,1629052653.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:34.005Z,1629052654.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,0068C,186,80,80,5B,FF
2021-08-15T18:37:34.005Z,1629052654.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:34.005Z,1629052654.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:34.007Z,1629052654.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:34.397Z,1629052654.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:34.777Z,1629052654.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,006B8,189,80,80,67,FF
2021-08-15T18:37:34.778Z,1629052654.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:35.211Z,1629052655.211 [Micromodem](INFO): Nmea in: $SNTTA,0.056631,,,,183735.13*4E

2021-08-15T18:37:35.250Z,1629052655.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 352.316156 deg, deltaT: 4.410939 s, approachRate: 0.598514 m/s, LOS rate: -11.459278 deg/s, posRepo size: 4
2021-08-15T18:37:35.250Z,1629052655.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.459278 deg/s. Setting heading cmd to target bearing of 352.316156deg and heading rate command to 0 deg/s.
2021-08-15T18:37:37.643Z,1629052657.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:38.041Z,1629052658.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:38.041Z,1629052658.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:38.041Z,1629052658.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:38.042Z,1629052658.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:38.421Z,1629052658.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,006B8,189,80,80,67,FF
2021-08-15T18:37:38.421Z,1629052658.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:38.421Z,1629052658.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:38.423Z,1629052658.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:38.825Z,1629052658.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:39.674Z,1629052659.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183739.55*59

2021-08-15T18:37:40.075Z,1629052660.075 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T18:37:40.473Z,1629052660.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:42.058Z,1629052662.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,67,FF
2021-08-15T18:37:42.058Z,1629052662.058 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,67,FF
2021-08-15T18:37:42.058Z,1629052662.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:37:43.318Z,1629052663.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:43.677Z,1629052663.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:43.678Z,1629052663.678 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:43.678Z,1629052663.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:43.679Z,1629052663.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:44.077Z,1629052664.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,67,FF
2021-08-15T18:37:44.078Z,1629052664.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:44.078Z,1629052664.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:44.081Z,1629052664.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:44.493Z,1629052664.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:44.926Z,1629052664.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00710,186,80,80,5C,FF
2021-08-15T18:37:44.926Z,1629052664.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:45.334Z,1629052665.334 [Micromodem](INFO): Nmea in: $SNTTA,0.059855,,,,183745.21*4B

2021-08-15T18:37:45.363Z,1629052665.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.980003 m, bearing: 38.958412 deg, deltaT: 10.201471 s, approachRate: 0.517572 m/s, LOS rate: 4.572111 deg/s, posRepo size: 4
2021-08-15T18:37:47.739Z,1629052667.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:48.135Z,1629052668.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:48.135Z,1629052668.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:48.136Z,1629052668.136 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:48.137Z,1629052668.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:48.517Z,1629052668.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00710,186,80,80,5C,FF
2021-08-15T18:37:48.518Z,1629052668.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:48.518Z,1629052668.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:48.519Z,1629052668.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:48.943Z,1629052668.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:49.329Z,1629052669.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,00736,18A,80,80,77,FF
2021-08-15T18:37:49.330Z,1629052669.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:49.782Z,1629052669.782 [Micromodem](INFO): Nmea in: $SNTTA,0.074904,,,,183749.65*4D

2021-08-15T18:37:49.828Z,1629052669.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 326.755813 deg, deltaT: 4.378759 s, approachRate: 0.520695 m/s, LOS rate: -16.489284 deg/s, posRepo size: 4
2021-08-15T18:37:49.829Z,1629052669.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.489284 deg/s. Setting heading cmd to target bearing of 326.755813deg and heading rate command to 0 deg/s.
2021-08-15T18:37:52.260Z,1629052672.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:52.561Z,1629052672.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:52.561Z,1629052672.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:52.561Z,1629052672.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:52.562Z,1629052672.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:52.965Z,1629052672.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
309,000,00736,18A,80,80,77,FF
2021-08-15T18:37:52.965Z,1629052672.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:52.965Z,1629052672.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:52.967Z,1629052672.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:53.380Z,1629052673.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:53.773Z,1629052673.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,0075A,189,80,80,59,FF
2021-08-15T18:37:53.774Z,1629052673.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:54.193Z,1629052674.193 [Micromodem](INFO): Nmea in: $SNTTA,0.433475,0.434969,,,183754.10*54

2021-08-15T18:37:54.252Z,1629052674.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 43.485991 deg, deltaT: 4.467878 s, approachRate: 0.483452 m/s, LOS rate: 17.173739 deg/s, posRepo size: 4
2021-08-15T18:37:54.253Z,1629052674.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.173739 deg/s. Setting heading cmd to target bearing of 43.485991deg and heading rate command to 0 deg/s.
2021-08-15T18:37:56.627Z,1629052676.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:37:57.005Z,1629052677.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:37:57.005Z,1629052677.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:37:57.005Z,1629052677.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:37:57.006Z,1629052677.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:37:57.413Z,1629052677.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,0075A,189,80,80,59,FF
2021-08-15T18:37:57.413Z,1629052677.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:37:57.413Z,1629052677.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:37:57.415Z,1629052677.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:37:57.817Z,1629052677.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:37:58.217Z,1629052678.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00786,186,80,80,7A,FF
2021-08-15T18:37:58.217Z,1629052678.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:37:58.661Z,1629052678.661 [Micromodem](INFO): Nmea in: $SNTTA,0.078040,,,,183758.54*4A

2021-08-15T18:37:58.677Z,1629052678.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 36.866025 deg, deltaT: 4.448760 s, approachRate: 0.593424 m/s, LOS rate: -1.488048 deg/s, posRepo size: 4
2021-08-15T18:38:01.086Z,1629052681.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:01.449Z,1629052681.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:01.449Z,1629052681.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:01.449Z,1629052681.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:01.450Z,1629052681.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:01.860Z,1629052681.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00786,186,80,80,7A,FF
2021-08-15T18:38:01.861Z,1629052681.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:01.862Z,1629052681.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:01.869Z,1629052681.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:02.261Z,1629052682.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:02.661Z,1629052682.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,007B0,184,80,80,6B,FF
2021-08-15T18:38:02.662Z,1629052682.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:03.109Z,1629052683.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 13.981154 deg, deltaT: 4.371469 s, approachRate: 0.576466 m/s, LOS rate: -5.235053 deg/s, posRepo size: 4
2021-08-15T18:38:05.507Z,1629052685.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:05.915Z,1629052685.915 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:05.915Z,1629052685.915 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:05.916Z,1629052685.916 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:05.917Z,1629052685.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:06.297Z,1629052686.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,007B0,184,80,80,6B,FF
2021-08-15T18:38:06.297Z,1629052686.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:06.297Z,1629052686.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:06.299Z,1629052686.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:06.698Z,1629052686.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:07.105Z,1629052687.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,007D7,187,80,80,6D,FF
2021-08-15T18:38:07.106Z,1629052687.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:07.545Z,1629052687.545 [Micromodem](INFO): Nmea in: $SNTTA,0.072835,,,,183807.43*49

2021-08-15T18:38:07.581Z,1629052687.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 45.706024 deg, deltaT: 4.504793 s, approachRate: 0.519444 m/s, LOS rate: 7.042470 deg/s, posRepo size: 4
2021-08-15T18:38:10.030Z,1629052690.030 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T18:38:10.057Z,1629052690.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:10.350Z,1629052690.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:10.351Z,1629052690.351 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:10.351Z,1629052690.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:10.364Z,1629052690.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:10.753Z,1629052690.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,007D7,187,80,80,6D,FF
2021-08-15T18:38:10.753Z,1629052690.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:10.753Z,1629052690.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:10.755Z,1629052690.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:11.149Z,1629052691.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:11.549Z,1629052691.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00805,187,80,80,3D,FF
2021-08-15T18:38:11.550Z,1629052691.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:12.009Z,1629052692.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183811.88*5C

2021-08-15T18:38:12.093Z,1629052692.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.680008 m, bearing: 47.082492 deg, deltaT: 4.379465 s, approachRate: 0.630216 m/s, LOS rate: 0.314300 deg/s, posRepo size: 4
2021-08-15T18:38:14.091Z,1629052694.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:14.374Z,1629052694.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:14.374Z,1629052694.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:14.375Z,1629052694.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:14.376Z,1629052694.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:14.781Z,1629052694.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00805,187,80,80,3D,FF
2021-08-15T18:38:14.781Z,1629052694.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:14.782Z,1629052694.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:14.783Z,1629052694.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:15.188Z,1629052695.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:15.589Z,1629052695.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0082E,189,80,80,6F,FF
2021-08-15T18:38:15.589Z,1629052695.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:16.054Z,1629052696.054 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183815.91*50

2021-08-15T18:38:16.119Z,1629052696.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 354.231314 deg, deltaT: 4.042933 s, approachRate: 0.608469 m/s, LOS rate: -13.072483 deg/s, posRepo size: 4
2021-08-15T18:38:16.124Z,1629052696.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.072483 deg/s. Setting heading cmd to target bearing of 354.231314deg and heading rate command to 0 deg/s.
2021-08-15T18:38:18.460Z,1629052698.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:18.829Z,1629052698.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:18.829Z,1629052698.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:18.829Z,1629052698.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:18.830Z,1629052698.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:19.231Z,1629052699.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,0082E,189,80,80,6F,FF
2021-08-15T18:38:19.231Z,1629052699.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:19.231Z,1629052699.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:19.233Z,1629052699.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:19.629Z,1629052699.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:20.097Z,1629052700.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00851,186,80,80,86,FF
2021-08-15T18:38:20.097Z,1629052700.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:20.148Z,1629052700.148 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T18:38:20.148Z,1629052700.148 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T18:38:20.148Z,1629052700.148 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T18:38:20.333Z,1629052700.333 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T18:38:20.473Z,1629052700.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183820.36*5B

2021-08-15T18:38:20.548Z,1629052700.548 [RDI_Pathfinder](INFO): Powering down
2021-08-15T18:38:20.569Z,1629052700.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.240005 m, bearing: 51.218168 deg, deltaT: 4.596281 s, approachRate: 0.456891 m/s, LOS rate: 12.398470 deg/s, posRepo size: 4
2021-08-15T18:38:20.570Z,1629052700.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.398470 deg/s. Setting heading cmd to target bearing of 51.218168deg and heading rate command to 0 deg/s.
2021-08-15T18:38:21.374Z,1629052701.374 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T18:38:21.374Z,1629052701.374 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T18:38:22.925Z,1629052702.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:23.269Z,1629052703.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:23.269Z,1629052703.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:23.269Z,1629052703.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:23.270Z,1629052703.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:23.669Z,1629052703.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00851,186,80,80,86,FF
2021-08-15T18:38:23.669Z,1629052703.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:23.669Z,1629052703.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:23.671Z,1629052703.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:24.073Z,1629052704.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:24.489Z,1629052704.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,0087A,184,80,80,77,FF
2021-08-15T18:38:24.490Z,1629052704.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:24.930Z,1629052704.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183824.80*52

2021-08-15T18:38:24.955Z,1629052704.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.700005 m, bearing: 41.235522 deg, deltaT: 4.323697 s, approachRate: 0.568957 m/s, LOS rate: -2.308822 deg/s, posRepo size: 4
2021-08-15T18:38:27.348Z,1629052707.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:27.709Z,1629052707.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:27.709Z,1629052707.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:27.709Z,1629052707.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:27.710Z,1629052707.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:28.113Z,1629052708.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,0087A,184,80,80,77,FF
2021-08-15T18:38:28.113Z,1629052708.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:28.113Z,1629052708.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:28.115Z,1629052708.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:28.520Z,1629052708.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:28.953Z,1629052708.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,008AC,187,80,80,5B,FF
2021-08-15T18:38:28.953Z,1629052708.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:29.371Z,1629052709.371 [Micromodem](INFO): Nmea in: $SNTTA,0.069600,,,,183829.25*47

2021-08-15T18:38:29.391Z,1629052709.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 47.432105 deg, deltaT: 4.450958 s, approachRate: 0.674011 m/s, LOS rate: 1.392191 deg/s, posRepo size: 4
2021-08-15T18:38:31.782Z,1629052711.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:32.161Z,1629052712.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:32.161Z,1629052712.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:32.161Z,1629052712.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:32.162Z,1629052712.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:32.562Z,1629052712.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,008AC,187,80,80,5B,FF
2021-08-15T18:38:32.562Z,1629052712.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:32.562Z,1629052712.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:32.563Z,1629052712.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:32.984Z,1629052712.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:33.366Z,1629052713.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DE,000,008D0,186,80,80,79,FF
2021-08-15T18:38:33.366Z,1629052713.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:33.817Z,1629052713.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183833.69*53

2021-08-15T18:38:33.851Z,1629052713.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.860008 m, bearing: 20.906792 deg, deltaT: 4.402344 s, approachRate: 0.490650 m/s, LOS rate: -6.025270 deg/s, posRepo size: 4
2021-08-15T18:38:35.907Z,1629052715.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:36.201Z,1629052716.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:36.201Z,1629052716.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:36.201Z,1629052716.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:36.202Z,1629052716.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:36.601Z,1629052716.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DE,000,008D0,186,80,80,79,FF
2021-08-15T18:38:36.601Z,1629052716.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:36.601Z,1629052716.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:36.603Z,1629052716.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:37.018Z,1629052717.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:37.409Z,1629052717.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,008F8,186,80,80,85,FF
2021-08-15T18:38:37.409Z,1629052717.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:37.868Z,1629052717.868 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183837.73*5C

2021-08-15T18:38:37.972Z,1629052717.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 48.967836 deg, deltaT: 4.071384 s, approachRate: 0.589479 m/s, LOS rate: 6.892262 deg/s, posRepo size: 4
2021-08-15T18:38:40.272Z,1629052720.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:40.637Z,1629052720.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:40.637Z,1629052720.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:40.637Z,1629052720.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:40.638Z,1629052720.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:41.045Z,1629052721.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,008F8,186,80,80,85,FF
2021-08-15T18:38:41.045Z,1629052721.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:41.046Z,1629052721.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:41.049Z,1629052721.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:41.453Z,1629052721.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:42.278Z,1629052722.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183842.18*53

2021-08-15T18:38:43.102Z,1629052723.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:44.686Z,1629052724.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:44.686Z,1629052724.686 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:44.686Z,1629052724.686 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:38:46.111Z,1629052726.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:46.297Z,1629052726.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:46.297Z,1629052726.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:46.297Z,1629052726.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:46.298Z,1629052726.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:46.706Z,1629052726.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:46.706Z,1629052726.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:46.707Z,1629052726.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:46.711Z,1629052726.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:47.108Z,1629052727.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:47.951Z,1629052727.951 [Micromodem](INFO): Nmea in: $SNTTA,0.090745,,,,183847.84*42

2021-08-15T18:38:48.759Z,1629052728.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:50.338Z,1629052730.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:50.338Z,1629052730.338 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:50.338Z,1629052730.338 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:38:51.586Z,1629052731.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:51.961Z,1629052731.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:51.961Z,1629052731.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:51.961Z,1629052731.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:51.962Z,1629052731.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:52.373Z,1629052732.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,85,FF
2021-08-15T18:38:52.374Z,1629052732.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:52.374Z,1629052732.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:52.375Z,1629052732.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:52.761Z,1629052732.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:53.172Z,1629052733.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,0098C,189,80,80,70,FF
2021-08-15T18:38:53.172Z,1629052733.172 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:53.597Z,1629052733.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183853.50*5F

2021-08-15T18:38:53.620Z,1629052733.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.139999 m, bearing: 11.416677 deg, deltaT: 15.744641 s, approachRate: 0.564001 m/s, LOS rate: -2.385012 deg/s, posRepo size: 4
2021-08-15T18:38:56.050Z,1629052736.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:38:56.409Z,1629052736.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:38:56.409Z,1629052736.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:38:56.409Z,1629052736.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:38:56.410Z,1629052736.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:38:56.809Z,1629052736.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,0098C,189,80,80,70,FF
2021-08-15T18:38:56.809Z,1629052736.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:38:56.810Z,1629052736.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:38:56.811Z,1629052736.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:38:57.221Z,1629052737.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:38:57.617Z,1629052737.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,009B7,186,80,80,9C,FF
2021-08-15T18:38:57.617Z,1629052737.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:38:58.065Z,1629052738.065 [Micromodem](INFO): Nmea in: $SNTTA,0.076458,,,,183857.94*45

2021-08-15T18:38:58.184Z,1629052738.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.720009 m, bearing: 56.633839 deg, deltaT: 4.467473 s, approachRate: 0.577510 m/s, LOS rate: 10.121418 deg/s, posRepo size: 4
2021-08-15T18:39:00.473Z,1629052740.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:00.843Z,1629052740.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:00.844Z,1629052740.844 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:00.844Z,1629052740.844 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:00.845Z,1629052740.845 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:01.245Z,1629052741.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,009B7,186,80,80,9C,FF
2021-08-15T18:39:01.245Z,1629052741.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:01.245Z,1629052741.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:01.247Z,1629052741.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:01.653Z,1629052741.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:02.065Z,1629052742.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,009E5,189,80,80,64,FF
2021-08-15T18:39:02.066Z,1629052742.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:02.497Z,1629052742.497 [Micromodem](INFO): Nmea in: $SNTTA,0.095716,,,,183902.38*46

2021-08-15T18:39:02.519Z,1629052742.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.480003 m, bearing: 1.379976 deg, deltaT: 4.470179 s, approachRate: 0.617424 m/s, LOS rate: -12.360548 deg/s, posRepo size: 4
2021-08-15T18:39:02.520Z,1629052742.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.360548 deg/s. Setting heading cmd to target bearing of 1.379976deg and heading rate command to 0 deg/s.
2021-08-15T18:39:04.953Z,1629052744.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:05.285Z,1629052745.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:05.285Z,1629052745.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:05.285Z,1629052745.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:05.286Z,1629052745.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:05.693Z,1629052745.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,009E5,189,80,80,64,FF
2021-08-15T18:39:05.693Z,1629052745.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:05.693Z,1629052745.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:05.695Z,1629052745.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:06.096Z,1629052746.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:06.513Z,1629052746.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,00A13,189,80,80,4D,FF
2021-08-15T18:39:06.514Z,1629052746.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:06.961Z,1629052746.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183906.82*51

2021-08-15T18:39:07.004Z,1629052747.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.240005 m, bearing: 3.409892 deg, deltaT: 4.455604 s, approachRate: 0.619445 m/s, LOS rate: 0.455587 deg/s, posRepo size: 4
2021-08-15T18:39:09.376Z,1629052749.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:09.764Z,1629052749.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:09.764Z,1629052749.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:09.764Z,1629052749.764 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:09.765Z,1629052749.765 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:10.137Z,1629052750.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,00A13,189,80,80,4D,FF
2021-08-15T18:39:10.137Z,1629052750.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:10.138Z,1629052750.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:10.139Z,1629052750.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:10.541Z,1629052750.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:10.949Z,1629052750.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00A41,189,80,80,38,FF
2021-08-15T18:39:10.950Z,1629052750.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:11.381Z,1629052751.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183911.27*58

2021-08-15T18:39:11.413Z,1629052751.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.000000 m, bearing: 79.349613 deg, deltaT: 4.410057 s, approachRate: 0.625841 m/s, LOS rate: 17.219670 deg/s, posRepo size: 4
2021-08-15T18:39:11.414Z,1629052751.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.219670 deg/s. Setting heading cmd to target bearing of 79.349613deg and heading rate command to 0 deg/s.
2021-08-15T18:39:13.904Z,1629052753.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:14.181Z,1629052754.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:14.181Z,1629052754.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:14.181Z,1629052754.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:14.182Z,1629052754.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:14.582Z,1629052754.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00A41,189,80,80,38,FF
2021-08-15T18:39:14.582Z,1629052754.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:14.582Z,1629052754.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:14.584Z,1629052754.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:14.996Z,1629052754.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:15.393Z,1629052755.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,00A68,187,80,80,69,FF
2021-08-15T18:39:15.394Z,1629052755.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:15.829Z,1629052755.829 [Micromodem](INFO): Nmea in: $SNTTA,0.083423,0.471877,,,183915.71*5B

2021-08-15T18:39:15.919Z,1629052755.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.340004 m, bearing: 4.522742 deg, deltaT: 4.407974 s, approachRate: 0.530857 m/s, LOS rate: -16.975344 deg/s, posRepo size: 4
2021-08-15T18:39:15.925Z,1629052755.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.975344 deg/s. Setting heading cmd to target bearing of 4.522742deg and heading rate command to 0 deg/s.
2021-08-15T18:39:17.929Z,1629052757.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:18.221Z,1629052758.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:18.221Z,1629052758.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:18.221Z,1629052758.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:18.222Z,1629052758.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:18.617Z,1629052758.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,00A68,187,80,80,69,FF
2021-08-15T18:39:18.617Z,1629052758.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:18.617Z,1629052758.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:18.619Z,1629052758.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:19.032Z,1629052759.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:19.429Z,1629052759.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,00A8D,188,80,80,34,FF
2021-08-15T18:39:19.430Z,1629052759.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:19.866Z,1629052759.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183919.75*57

2021-08-15T18:39:19.967Z,1629052759.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.559998 m, bearing: 359.087989 deg, deltaT: 4.035683 s, approachRate: 0.550091 m/s, LOS rate: -1.346673 deg/s, posRepo size: 4
2021-08-15T18:39:21.952Z,1629052761.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:22.253Z,1629052762.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:22.253Z,1629052762.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:22.253Z,1629052762.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:22.254Z,1629052762.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:22.661Z,1629052762.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,00A8D,188,80,80,34,FF
2021-08-15T18:39:22.661Z,1629052762.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:22.662Z,1629052762.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:22.663Z,1629052762.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:23.065Z,1629052763.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:23.473Z,1629052763.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D90,000,00AB6,189,80,80,5A,FF
2021-08-15T18:39:23.474Z,1629052763.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:23.935Z,1629052763.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183923.79*52

2021-08-15T18:39:24.003Z,1629052764.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.019997 m, bearing: 74.538483 deg, deltaT: 4.093986 s, approachRate: 0.600881 m/s, LOS rate: 18.429592 deg/s, posRepo size: 4
2021-08-15T18:39:24.004Z,1629052764.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.429592 deg/s. Setting heading cmd to target bearing of 74.538483deg and heading rate command to 0 deg/s.
2021-08-15T18:39:26.349Z,1629052766.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:26.701Z,1629052766.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:26.701Z,1629052766.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:26.701Z,1629052766.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:26.702Z,1629052766.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:27.101Z,1629052767.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D90,000,00AB6,189,80,80,5A,FF
2021-08-15T18:39:27.101Z,1629052767.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:27.101Z,1629052767.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:27.103Z,1629052767.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:27.513Z,1629052767.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:28.339Z,1629052768.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183928.23*56

2021-08-15T18:39:29.170Z,1629052769.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:30.745Z,1629052770.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:30.745Z,1629052770.745 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:30.745Z,1629052770.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:39:32.031Z,1629052772.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:32.376Z,1629052772.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:32.376Z,1629052772.376 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:32.377Z,1629052772.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:32.378Z,1629052772.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:32.765Z,1629052772.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:32.765Z,1629052772.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:32.765Z,1629052772.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:32.767Z,1629052772.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:33.176Z,1629052773.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:34.006Z,1629052774.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183933.90*54

2021-08-15T18:39:34.819Z,1629052774.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:36.410Z,1629052776.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:36.410Z,1629052776.410 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:36.411Z,1629052776.411 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:39:37.641Z,1629052777.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:38.022Z,1629052778.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:38.022Z,1629052778.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:38.022Z,1629052778.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:38.022Z,1629052778.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:38.413Z,1629052778.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:38.413Z,1629052778.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:38.414Z,1629052778.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:38.415Z,1629052778.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:38.831Z,1629052778.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:39.659Z,1629052779.659 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183939.55*57

2021-08-15T18:39:40.483Z,1629052780.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:42.054Z,1629052782.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:42.054Z,1629052782.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:42.054Z,1629052782.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:39:43.305Z,1629052783.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:43.675Z,1629052783.675 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:43.675Z,1629052783.675 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:43.675Z,1629052783.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:43.676Z,1629052783.676 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:44.069Z,1629052784.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,5A,FF
2021-08-15T18:39:44.069Z,1629052784.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:44.069Z,1629052784.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:44.071Z,1629052784.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:44.494Z,1629052784.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:44.890Z,1629052784.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00B72,186,80,80,88,FF
2021-08-15T18:39:44.892Z,1629052784.892 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:45.327Z,1629052785.327 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183945.20*5E

2021-08-15T18:39:45.358Z,1629052785.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.300003 m, bearing: 90.772449 deg, deltaT: 21.416751 s, approachRate: 0.526691 m/s, LOS rate: 0.758003 deg/s, posRepo size: 4
2021-08-15T18:39:47.799Z,1629052787.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:48.109Z,1629052788.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:48.109Z,1629052788.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:48.109Z,1629052788.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:48.110Z,1629052788.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:48.513Z,1629052788.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00B72,186,80,80,88,FF
2021-08-15T18:39:48.513Z,1629052788.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:48.513Z,1629052788.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:48.515Z,1629052788.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:48.940Z,1629052788.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:49.325Z,1629052789.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00B8E,188,80,80,86,FF
2021-08-15T18:39:49.325Z,1629052789.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:49.785Z,1629052789.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183949.64*52

2021-08-15T18:39:49.821Z,1629052789.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.980011 m, bearing: 58.747379 deg, deltaT: 4.434032 s, approachRate: 0.378889 m/s, LOS rate: -7.222561 deg/s, posRepo size: 4
2021-08-15T18:39:50.203Z,1629052790.203 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T18:39:50.204Z,1629052790.204 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T18:39:50.204Z,1629052790.204 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T18:39:50.376Z,1629052790.376 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T18:39:50.624Z,1629052790.624 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T18:39:51.492Z,1629052791.492 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T18:39:51.492Z,1629052791.492 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T18:39:52.198Z,1629052792.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:52.562Z,1629052792.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:52.562Z,1629052792.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:52.562Z,1629052792.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:52.563Z,1629052792.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:52.957Z,1629052792.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00B8E,188,80,80,86,FF
2021-08-15T18:39:52.957Z,1629052792.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:52.957Z,1629052792.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:52.959Z,1629052792.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:53.375Z,1629052793.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:53.801Z,1629052793.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00BA3,186,80,80,AA,FF
2021-08-15T18:39:53.802Z,1629052793.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:54.213Z,1629052794.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183954.09*55

2021-08-15T18:39:54.235Z,1629052794.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.239990 m, bearing: 112.381050 deg, deltaT: 4.468194 s, approachRate: 0.281988 m/s, LOS rate: 12.003434 deg/s, posRepo size: 4
2021-08-15T18:39:54.236Z,1629052794.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.003434 deg/s. Setting heading cmd to target bearing of 112.381050deg and heading rate command to 0 deg/s.
2021-08-15T18:39:56.651Z,1629052796.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:39:57.037Z,1629052797.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:39:57.037Z,1629052797.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:39:57.038Z,1629052797.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:39:57.039Z,1629052797.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:39:57.437Z,1629052797.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00BA3,186,80,80,AA,FF
2021-08-15T18:39:57.437Z,1629052797.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:39:57.437Z,1629052797.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:39:57.439Z,1629052797.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:39:57.849Z,1629052797.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:39:58.245Z,1629052798.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,00934,185,80,80,A1,FF
2021-08-15T18:39:58.246Z,1629052798.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:39:58.681Z,1629052798.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,183958.57*52

2021-08-15T18:39:58.727Z,1629052798.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.860008 m, bearing: 68.580167 deg, deltaT: 4.402651 s, approachRate: -8.490335 m/s, LOS rate: -9.948752 deg/s, posRepo size: 4
2021-08-15T18:40:01.126Z,1629052801.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:01.477Z,1629052801.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:01.477Z,1629052801.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:01.477Z,1629052801.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:01.478Z,1629052801.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:01.895Z,1629052801.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,00934,185,80,80,A1,FF
2021-08-15T18:40:01.895Z,1629052801.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:01.895Z,1629052801.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:01.897Z,1629052801.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:02.380Z,1629052802.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:02.769Z,1629052802.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,00BDD,18A,80,80,98,FF
2021-08-15T18:40:02.770Z,1629052802.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:03.185Z,1629052803.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184003.02*52

2021-08-15T18:40:03.254Z,1629052803.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.720001 m, bearing: 121.276784 deg, deltaT: 4.556109 s, approachRate: 8.968177 m/s, LOS rate: 11.566145 deg/s, posRepo size: 4
2021-08-15T18:40:03.255Z,1629052803.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.566145 deg/s. Setting heading cmd to target bearing of 121.276784deg and heading rate command to 0 deg/s.
2021-08-15T18:40:05.623Z,1629052805.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:06.001Z,1629052806.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:06.001Z,1629052806.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:06.001Z,1629052806.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:06.002Z,1629052806.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:06.409Z,1629052806.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,00BDD,18A,80,80,98,FF
2021-08-15T18:40:06.409Z,1629052806.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:06.409Z,1629052806.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:06.411Z,1629052806.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:06.813Z,1629052806.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:07.638Z,1629052807.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184007.54*55

2021-08-15T18:40:08.136Z,1629052808.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:10.037Z,1629052810.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,18A,80,80,98,FF
2021-08-15T18:40:10.037Z,1629052810.037 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,18A,80,80,98,FF
2021-08-15T18:40:10.038Z,1629052810.038 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:40:10.923Z,1629052810.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:11.253Z,1629052811.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:11.253Z,1629052811.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:11.253Z,1629052811.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:11.254Z,1629052811.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:11.665Z,1629052811.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,18A,80,80,98,FF
2021-08-15T18:40:11.666Z,1629052811.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:11.666Z,1629052811.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:11.667Z,1629052811.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:12.061Z,1629052812.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:12.474Z,1629052812.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,00C14,189,80,80,98,FF
2021-08-15T18:40:12.474Z,1629052812.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:12.908Z,1629052812.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184012.80*58

2021-08-15T18:40:12.991Z,1629052812.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.020004 m, bearing: 136.135178 deg, deltaT: 9.675567 s, approachRate: 0.341066 m/s, LOS rate: 1.535661 deg/s, posRepo size: 4
2021-08-15T18:40:15.342Z,1629052815.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:15.713Z,1629052815.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:15.714Z,1629052815.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:15.715Z,1629052815.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:15.716Z,1629052815.716 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:16.097Z,1629052816.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,00C14,189,80,80,98,FF
2021-08-15T18:40:16.097Z,1629052816.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:16.097Z,1629052816.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:16.099Z,1629052816.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:16.521Z,1629052816.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:16.920Z,1629052816.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00C1A,185,80,80,85,FF
2021-08-15T18:40:16.922Z,1629052816.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:17.361Z,1629052817.361 [Micromodem](INFO): Nmea in: $SNTTA,0.100882,,,,184017.23*49

2021-08-15T18:40:17.385Z,1629052817.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.380005 m, bearing: 98.519011 deg, deltaT: 4.515507 s, approachRate: 0.079725 m/s, LOS rate: -8.330442 deg/s, posRepo size: 4
2021-08-15T18:40:19.844Z,1629052819.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:20.161Z,1629052820.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:20.161Z,1629052820.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:20.161Z,1629052820.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:20.162Z,1629052820.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:20.545Z,1629052820.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,00C1A,185,80,80,85,FF
2021-08-15T18:40:20.545Z,1629052820.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:20.545Z,1629052820.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:20.547Z,1629052820.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:20.981Z,1629052820.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:21.367Z,1629052821.367 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,00C15,187,80,80,A0,FF
2021-08-15T18:40:21.367Z,1629052821.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:21.811Z,1629052821.811 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184021.68*5E

2021-08-15T18:40:21.867Z,1629052821.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.080002 m, bearing: 157.971716 deg, deltaT: 4.375271 s, approachRate: -0.068568 m/s, LOS rate: 13.588348 deg/s, posRepo size: 4
2021-08-15T18:40:21.868Z,1629052821.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.588348 deg/s. Setting heading cmd to target bearing of 157.971716deg and heading rate command to 0 deg/s.
2021-08-15T18:40:24.214Z,1629052824.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:24.589Z,1629052824.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:24.589Z,1629052824.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:24.589Z,1629052824.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:24.590Z,1629052824.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:25.001Z,1629052825.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,00C15,187,80,80,A0,FF
2021-08-15T18:40:25.001Z,1629052825.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:25.001Z,1629052825.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:25.003Z,1629052825.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:25.404Z,1629052825.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:25.818Z,1629052825.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00C13,186,80,80,AA,FF
2021-08-15T18:40:25.818Z,1629052825.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:26.249Z,1629052826.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184026.13*55

2021-08-15T18:40:26.309Z,1629052826.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.960007 m, bearing: 146.955522 deg, deltaT: 4.507381 s, approachRate: -0.026622 m/s, LOS rate: -2.444034 deg/s, posRepo size: 4
2021-08-15T18:40:28.659Z,1629052828.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:29.025Z,1629052829.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:29.026Z,1629052829.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:29.026Z,1629052829.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:29.027Z,1629052829.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:29.434Z,1629052829.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00C13,186,80,80,AA,FF
2021-08-15T18:40:29.434Z,1629052829.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:29.434Z,1629052829.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:29.435Z,1629052829.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:29.841Z,1629052829.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:30.246Z,1629052830.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE6,000,00C19,189,80,80,6D,FF
2021-08-15T18:40:30.246Z,1629052830.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:30.686Z,1629052830.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184030.57*52

2021-08-15T18:40:30.709Z,1629052830.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.320007 m, bearing: 172.954050 deg, deltaT: 4.425325 s, approachRate: 0.081350 m/s, LOS rate: 5.874942 deg/s, posRepo size: 4
2021-08-15T18:40:33.109Z,1629052833.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:33.473Z,1629052833.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:33.473Z,1629052833.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:33.473Z,1629052833.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:33.474Z,1629052833.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:33.881Z,1629052833.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE6,000,00C19,189,80,80,6D,FF
2021-08-15T18:40:33.881Z,1629052833.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:33.881Z,1629052833.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:33.883Z,1629052833.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:34.331Z,1629052834.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:34.697Z,1629052834.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFA,000,00C16,186,80,80,AE,FF
2021-08-15T18:40:34.697Z,1629052834.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:35.137Z,1629052835.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184035.01*54

2021-08-15T18:40:35.165Z,1629052835.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.139999 m, bearing: 161.696505 deg, deltaT: 4.429296 s, approachRate: -0.040640 m/s, LOS rate: -2.541611 deg/s, posRepo size: 4
2021-08-15T18:40:37.543Z,1629052837.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:37.947Z,1629052837.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:37.947Z,1629052837.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:37.949Z,1629052837.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:37.950Z,1629052837.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:38.325Z,1629052838.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFA,000,00C16,186,80,80,AE,FF
2021-08-15T18:40:38.325Z,1629052838.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:38.325Z,1629052838.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:38.328Z,1629052838.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:38.729Z,1629052838.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:39.134Z,1629052839.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C09,18A,80,80,BE,FF
2021-08-15T18:40:39.134Z,1629052839.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:39.578Z,1629052839.578 [Micromodem](INFO): Nmea in: $SNTTA,0.103217,,,,184039.46*43

2021-08-15T18:40:39.594Z,1629052839.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.360001 m, bearing: 215.518437 deg, deltaT: 4.445042 s, approachRate: -0.175476 m/s, LOS rate: 12.108307 deg/s, posRepo size: 4
2021-08-15T18:40:39.595Z,1629052839.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.108307 deg/s. Setting heading cmd to target bearing of 215.518437deg and heading rate command to 0 deg/s.
2021-08-15T18:40:42.057Z,1629052842.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:42.392Z,1629052842.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:42.393Z,1629052842.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:42.393Z,1629052842.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:42.394Z,1629052842.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:42.765Z,1629052842.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C09,18A,80,80,BE,FF
2021-08-15T18:40:42.765Z,1629052842.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:42.765Z,1629052842.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:42.767Z,1629052842.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:43.180Z,1629052843.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:43.578Z,1629052843.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B88,000,00BF4,189,80,80,AA,FF
2021-08-15T18:40:43.578Z,1629052843.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:44.026Z,1629052844.026 [Micromodem](INFO): Nmea in: $SNTTA,0.111179,,,,184043.90*4D

2021-08-15T18:40:44.104Z,1629052844.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.100006 m, bearing: 221.940590 deg, deltaT: 4.403951 s, approachRate: -0.286105 m/s, LOS rate: 1.458271 deg/s, posRepo size: 4
2021-08-15T18:40:46.442Z,1629052846.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:46.813Z,1629052846.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:46.813Z,1629052846.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:46.813Z,1629052846.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:46.814Z,1629052846.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:47.226Z,1629052847.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B88,000,00BF4,189,80,80,AA,FF
2021-08-15T18:40:47.226Z,1629052847.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:47.226Z,1629052847.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:47.228Z,1629052847.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:47.617Z,1629052847.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:48.038Z,1629052848.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6E,000,00BD3,18A,80,80,B8,FF
2021-08-15T18:40:48.038Z,1629052848.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:48.457Z,1629052848.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184048.36*5A

2021-08-15T18:40:48.476Z,1629052848.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.120010 m, bearing: 212.273892 deg, deltaT: 4.534328 s, approachRate: -0.436668 m/s, LOS rate: -2.131892 deg/s, posRepo size: 4
2021-08-15T18:40:50.871Z,1629052850.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:51.260Z,1629052851.260 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:51.260Z,1629052851.260 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:51.261Z,1629052851.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:51.262Z,1629052851.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:51.653Z,1629052851.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6E,000,00BD3,18A,80,80,B8,FF
2021-08-15T18:40:51.653Z,1629052851.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:51.653Z,1629052851.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:51.655Z,1629052851.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:52.121Z,1629052852.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:52.514Z,1629052852.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00BA9,189,80,80,8A,FF
2021-08-15T18:40:52.514Z,1629052852.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:52.957Z,1629052852.957 [Micromodem](INFO): Nmea in: $SNTTA,0.097855,,,,184052.78*43

2021-08-15T18:40:53.014Z,1629052853.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.600006 m, bearing: 227.560538 deg, deltaT: 4.401486 s, approachRate: -0.572535 m/s, LOS rate: 3.473065 deg/s, posRepo size: 4
2021-08-15T18:40:55.373Z,1629052855.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:40:55.774Z,1629052855.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:40:55.775Z,1629052855.775 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:40:55.775Z,1629052855.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:40:55.776Z,1629052855.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:40:56.154Z,1629052856.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00BA9,189,80,80,8A,FF
2021-08-15T18:40:56.154Z,1629052856.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:40:56.154Z,1629052856.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:40:56.156Z,1629052856.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:40:56.557Z,1629052856.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:40:56.977Z,1629052856.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00B78,186,80,80,B2,FF
2021-08-15T18:40:56.978Z,1629052856.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:40:57.405Z,1629052857.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184057.29*5A

2021-08-15T18:40:57.449Z,1629052857.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.660004 m, bearing: 220.821150 deg, deltaT: 4.474098 s, approachRate: -0.657116 m/s, LOS rate: -1.506312 deg/s, posRepo size: 4
2021-08-15T18:40:59.850Z,1629052859.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:00.204Z,1629052860.204 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:00.205Z,1629052860.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:00.205Z,1629052860.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:00.206Z,1629052860.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:00.581Z,1629052860.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00B78,186,80,80,B2,FF
2021-08-15T18:41:00.581Z,1629052860.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:00.582Z,1629052860.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:00.583Z,1629052860.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:01.016Z,1629052861.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:01.401Z,1629052861.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00B49,184,80,80,8F,FF
2021-08-15T18:41:01.401Z,1629052861.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:01.849Z,1629052861.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184101.72*56

2021-08-15T18:41:01.947Z,1629052861.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.840012 m, bearing: 218.569851 deg, deltaT: 4.442448 s, approachRate: -0.634783 m/s, LOS rate: -0.506770 deg/s, posRepo size: 4
2021-08-15T18:41:04.293Z,1629052864.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:04.637Z,1629052864.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:04.637Z,1629052864.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:04.637Z,1629052864.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:04.638Z,1629052864.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:05.041Z,1629052865.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00B49,184,80,80,8F,FF
2021-08-15T18:41:05.041Z,1629052865.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:05.041Z,1629052865.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:05.043Z,1629052865.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:05.445Z,1629052865.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:05.849Z,1629052865.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00B14,186,80,80,90,FF
2021-08-15T18:41:05.850Z,1629052865.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:06.289Z,1629052866.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184106.17*52

2021-08-15T18:41:06.313Z,1629052866.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.660004 m, bearing: 216.883395 deg, deltaT: 4.577714 s, approachRate: -0.694672 m/s, LOS rate: -0.368406 deg/s, posRepo size: 4
2021-08-15T18:41:08.703Z,1629052868.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:09.073Z,1629052869.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:09.073Z,1629052869.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:09.073Z,1629052869.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:09.074Z,1629052869.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:09.477Z,1629052869.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00B14,186,80,80,90,FF
2021-08-15T18:41:09.477Z,1629052869.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:09.477Z,1629052869.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:09.479Z,1629052869.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:09.877Z,1629052869.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:10.286Z,1629052870.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,00ADD,186,80,80,A9,FF
2021-08-15T18:41:10.286Z,1629052870.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:10.721Z,1629052870.721 [Micromodem](INFO): Nmea in: $SNTTA,0.090454,,,,184110.61*46

2021-08-15T18:41:10.761Z,1629052870.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.360001 m, bearing: 217.038181 deg, deltaT: 4.278406 s, approachRate: -0.771316 m/s, LOS rate: 0.036178 deg/s, posRepo size: 4
2021-08-15T18:41:13.153Z,1629052873.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:13.513Z,1629052873.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:13.513Z,1629052873.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:13.513Z,1629052873.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:13.514Z,1629052873.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:13.921Z,1629052873.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,00ADD,186,80,80,A9,FF
2021-08-15T18:41:13.921Z,1629052873.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:13.922Z,1629052873.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:13.927Z,1629052873.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:14.341Z,1629052874.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:14.733Z,1629052874.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00AAC,186,80,80,AD,FF
2021-08-15T18:41:14.733Z,1629052874.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:15.169Z,1629052875.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184115.06*50

2021-08-15T18:41:15.198Z,1629052875.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.419998 m, bearing: 217.759736 deg, deltaT: 4.475455 s, approachRate: -0.656917 m/s, LOS rate: 0.161225 deg/s, posRepo size: 4
2021-08-15T18:41:17.583Z,1629052877.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:17.989Z,1629052877.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:17.989Z,1629052877.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:17.989Z,1629052877.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:17.990Z,1629052877.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:18.355Z,1629052878.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00AAC,186,80,80,AD,FF
2021-08-15T18:41:18.355Z,1629052878.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:18.355Z,1629052878.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:18.360Z,1629052878.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:18.775Z,1629052878.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:19.169Z,1629052879.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00A77,186,80,80,9C,FF
2021-08-15T18:41:19.169Z,1629052879.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:19.606Z,1629052879.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184119.49*57

2021-08-15T18:41:19.622Z,1629052879.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 217.565035 deg, deltaT: 4.457978 s, approachRate: -0.713326 m/s, LOS rate: -0.043675 deg/s, posRepo size: 4
2021-08-15T18:41:22.066Z,1629052882.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:22.405Z,1629052882.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:22.405Z,1629052882.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:22.405Z,1629052882.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:22.406Z,1629052882.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:22.801Z,1629052882.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00A77,186,80,80,9C,FF
2021-08-15T18:41:22.801Z,1629052882.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:22.801Z,1629052882.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:22.803Z,1629052882.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:23.208Z,1629052883.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:23.609Z,1629052883.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00A42,187,80,80,8D,FF
2021-08-15T18:41:23.610Z,1629052883.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:24.058Z,1629052884.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184123.93*59

2021-08-15T18:41:24.123Z,1629052884.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.059998 m, bearing: 216.513117 deg, deltaT: 4.422404 s, approachRate: -0.719068 m/s, LOS rate: -0.237861 deg/s, posRepo size: 4
2021-08-15T18:41:26.455Z,1629052886.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:26.841Z,1629052886.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:26.841Z,1629052886.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:26.842Z,1629052886.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:26.843Z,1629052886.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:27.245Z,1629052887.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00A42,187,80,80,8D,FF
2021-08-15T18:41:27.245Z,1629052887.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:27.245Z,1629052887.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:27.247Z,1629052887.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:27.657Z,1629052887.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:28.053Z,1629052888.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05F,000,00A0C,186,80,80,96,FF
2021-08-15T18:41:28.054Z,1629052888.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:28.494Z,1629052888.494 [Micromodem](INFO): Nmea in: $SNTTA,0.079938,,,,184128.38*41

2021-08-15T18:41:28.514Z,1629052888.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.820007 m, bearing: 218.200106 deg, deltaT: 4.484218 s, approachRate: -0.722532 m/s, LOS rate: 0.376206 deg/s, posRepo size: 4
2021-08-15T18:41:30.921Z,1629052890.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:31.285Z,1629052891.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:31.285Z,1629052891.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:31.285Z,1629052891.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:31.286Z,1629052891.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:31.689Z,1629052891.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05F,000,00A0C,186,80,80,96,FF
2021-08-15T18:41:31.689Z,1629052891.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:31.689Z,1629052891.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:31.691Z,1629052891.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:32.097Z,1629052892.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:32.501Z,1629052892.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,009D7,186,80,80,A1,FF
2021-08-15T18:41:32.501Z,1629052892.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:32.949Z,1629052892.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184132.82*59

2021-08-15T18:41:32.981Z,1629052892.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.639999 m, bearing: 217.947115 deg, deltaT: 4.403035 s, approachRate: -0.722231 m/s, LOS rate: -0.057458 deg/s, posRepo size: 4
2021-08-15T18:41:35.384Z,1629052895.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:35.749Z,1629052895.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:35.749Z,1629052895.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:35.750Z,1629052895.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:35.751Z,1629052895.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:36.137Z,1629052896.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,009D7,186,80,80,A1,FF
2021-08-15T18:41:36.138Z,1629052896.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:36.138Z,1629052896.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:36.139Z,1629052896.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:36.540Z,1629052896.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:36.988Z,1629052896.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,0099E,184,80,80,A3,FF
2021-08-15T18:41:36.988Z,1629052896.988 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:37.393Z,1629052897.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184137.27*53

2021-08-15T18:41:37.409Z,1629052897.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 218.484200 deg, deltaT: 4.511916 s, approachRate: -0.757992 m/s, LOS rate: 0.119037 deg/s, posRepo size: 4
2021-08-15T18:41:39.869Z,1629052899.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:40.181Z,1629052900.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:40.182Z,1629052900.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:40.182Z,1629052900.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:40.190Z,1629052900.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:40.593Z,1629052900.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,0099E,184,80,80,A3,FF
2021-08-15T18:41:40.593Z,1629052900.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:40.593Z,1629052900.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:40.595Z,1629052900.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:40.989Z,1629052900.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:41.390Z,1629052901.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00969,184,80,80,B5,FF
2021-08-15T18:41:41.390Z,1629052901.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:41.838Z,1629052901.838 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184141.73*53

2021-08-15T18:41:41.873Z,1629052901.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.040001 m, bearing: 218.529567 deg, deltaT: 4.372738 s, approachRate: -0.727233 m/s, LOS rate: 0.010375 deg/s, posRepo size: 4
2021-08-15T18:41:44.257Z,1629052904.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:44.617Z,1629052904.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:44.617Z,1629052904.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:44.617Z,1629052904.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:44.618Z,1629052904.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:45.022Z,1629052905.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00969,184,80,80,B5,FF
2021-08-15T18:41:45.023Z,1629052905.023 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:45.023Z,1629052905.023 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:45.037Z,1629052905.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:45.429Z,1629052905.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:45.841Z,1629052905.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04D,000,00932,184,80,80,A7,FF
2021-08-15T18:41:45.842Z,1629052905.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:46.269Z,1629052906.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184146.17*56

2021-08-15T18:41:46.295Z,1629052906.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 218.650652 deg, deltaT: 4.498376 s, approachRate: -0.733599 m/s, LOS rate: 0.026918 deg/s, posRepo size: 4
2021-08-15T18:41:48.682Z,1629052908.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:49.076Z,1629052909.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:49.076Z,1629052909.076 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:49.077Z,1629052909.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:49.078Z,1629052909.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:49.465Z,1629052909.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04D,000,00932,184,80,80,A7,FF
2021-08-15T18:41:49.465Z,1629052909.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:49.465Z,1629052909.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:49.467Z,1629052909.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:49.889Z,1629052909.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:50.285Z,1629052910.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,008FE,184,80,80,C0,FF
2021-08-15T18:41:50.285Z,1629052910.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:50.714Z,1629052910.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184150.60*51

2021-08-15T18:41:50.730Z,1629052910.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 218.503311 deg, deltaT: 4.392389 s, approachRate: -0.710320 m/s, LOS rate: -0.033545 deg/s, posRepo size: 4
2021-08-15T18:41:53.145Z,1629052913.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:53.505Z,1629052913.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:53.505Z,1629052913.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:53.505Z,1629052913.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:53.506Z,1629052913.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:53.925Z,1629052913.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,008FE,184,80,80,C0,FF
2021-08-15T18:41:53.925Z,1629052913.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:53.926Z,1629052913.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:53.945Z,1629052913.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:54.330Z,1629052914.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:54.726Z,1629052914.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,008C7,186,80,80,6D,FF
2021-08-15T18:41:54.726Z,1629052914.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:55.140Z,1629052915.140 [Micromodem](INFO): Nmea in: $SNTTA,0.072885,,,,184155.07*4B

2021-08-15T18:41:55.222Z,1629052915.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.320000 m, bearing: 218.328554 deg, deltaT: 4.456565 s, approachRate: -0.740480 m/s, LOS rate: -0.039213 deg/s, posRepo size: 4
2021-08-15T18:41:57.569Z,1629052917.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:41:58.045Z,1629052918.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:41:58.045Z,1629052918.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:41:58.045Z,1629052918.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:41:58.046Z,1629052918.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:41:58.087Z,1629052918.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,008C7,186,80,80,6D,FF
2021-08-15T18:41:58.087Z,1629052918.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:41:58.087Z,1629052918.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:41:58.131Z,1629052918.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:41:58.470Z,1629052918.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:41:58.876Z,1629052918.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0088E,184,80,80,B4,FF
2021-08-15T18:41:58.876Z,1629052918.876 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:41:59.372Z,1629052919.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.900002 m, bearing: 218.797406 deg, deltaT: 4.187099 s, approachRate: -0.816794 m/s, LOS rate: 0.111975 deg/s, posRepo size: 4
2021-08-15T18:41:59.724Z,1629052919.724 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184159.27*5B

2021-08-15T18:42:01.806Z,1629052921.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:02.109Z,1629052922.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:02.109Z,1629052922.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:02.109Z,1629052922.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:02.110Z,1629052922.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:02.515Z,1629052922.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0088E,184,80,80,B4,FF
2021-08-15T18:42:02.516Z,1629052922.516 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:02.516Z,1629052922.516 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:02.517Z,1629052922.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:02.961Z,1629052922.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:03.319Z,1629052923.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00858,184,80,80,9B,FF
2021-08-15T18:42:03.319Z,1629052923.319 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:03.826Z,1629052923.826 [Micromodem](INFO): Nmea in: $SNTTA,0.162233,,,,184203.65*48

2021-08-15T18:42:03.865Z,1629052923.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 218.796832 deg, deltaT: 4.399201 s, approachRate: -0.736497 m/s, LOS rate: -0.000130 deg/s, posRepo size: 4
2021-08-15T18:42:05.874Z,1629052925.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:06.157Z,1629052926.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:06.157Z,1629052926.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:06.157Z,1629052926.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:06.158Z,1629052926.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:06.551Z,1629052926.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00858,184,80,80,9B,FF
2021-08-15T18:42:06.551Z,1629052926.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:06.551Z,1629052926.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:06.553Z,1629052926.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:07.000Z,1629052927.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:07.361Z,1629052927.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,0082B,184,80,80,B2,FF
2021-08-15T18:42:07.362Z,1629052927.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:07.829Z,1629052927.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184207.69*59

2021-08-15T18:42:07.881Z,1629052927.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.960007 m, bearing: 219.771131 deg, deltaT: 4.016006 s, approachRate: -0.672309 m/s, LOS rate: 0.242604 deg/s, posRepo size: 4
2021-08-15T18:42:10.253Z,1629052930.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:10.591Z,1629052930.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:10.591Z,1629052930.591 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:10.591Z,1629052930.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:10.592Z,1629052930.592 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:11.009Z,1629052931.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,0082B,184,80,80,B2,FF
2021-08-15T18:42:11.010Z,1629052931.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:11.010Z,1629052931.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:11.016Z,1629052931.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:11.402Z,1629052931.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:11.813Z,1629052931.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,007F1,184,80,80,AA,FF
2021-08-15T18:42:11.814Z,1629052931.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:12.229Z,1629052932.229 [Micromodem](INFO): Nmea in: $SNTTA,0.056033,,,,184212.15*4B

2021-08-15T18:42:12.274Z,1629052932.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.480003 m, bearing: 219.236710 deg, deltaT: 4.557491 s, approachRate: -0.763579 m/s, LOS rate: -0.117262 deg/s, posRepo size: 4
2021-08-15T18:42:14.643Z,1629052934.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:15.042Z,1629052935.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:15.042Z,1629052935.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:15.042Z,1629052935.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:15.043Z,1629052935.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:15.433Z,1629052935.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,007F1,184,80,80,AA,FF
2021-08-15T18:42:15.433Z,1629052935.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:15.433Z,1629052935.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:15.435Z,1629052935.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:15.893Z,1629052935.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:16.241Z,1629052936.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,007B9,186,80,80,90,FF
2021-08-15T18:42:16.242Z,1629052936.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:16.705Z,1629052936.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184216.57*54

2021-08-15T18:42:16.747Z,1629052936.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.120003 m, bearing: 217.769162 deg, deltaT: 4.381479 s, approachRate: -0.766864 m/s, LOS rate: -0.334944 deg/s, posRepo size: 4
2021-08-15T18:42:19.119Z,1629052939.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:19.473Z,1629052939.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:19.473Z,1629052939.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:19.473Z,1629052939.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:19.474Z,1629052939.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:19.885Z,1629052939.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,007B9,186,80,80,90,FF
2021-08-15T18:42:19.885Z,1629052939.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:19.885Z,1629052939.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:19.887Z,1629052939.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:20.292Z,1629052940.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:20.685Z,1629052940.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00785,186,80,80,9A,FF
2021-08-15T18:42:20.685Z,1629052940.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:21.125Z,1629052941.125 [Micromodem](INFO): Nmea in: $SNTTA,0.054162,,,,184221.02*4A

2021-08-15T18:42:21.154Z,1629052941.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 219.203638 deg, deltaT: 4.429735 s, approachRate: -0.704332 m/s, LOS rate: 0.323829 deg/s, posRepo size: 4
2021-08-15T18:42:23.539Z,1629052943.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:23.927Z,1629052943.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:23.927Z,1629052943.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:23.929Z,1629052943.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:23.930Z,1629052943.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:23.994Z,1629052943.994 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T18:42:24.321Z,1629052944.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00785,186,80,80,9A,FF
2021-08-15T18:42:24.321Z,1629052944.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:24.321Z,1629052944.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:24.323Z,1629052944.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:24.729Z,1629052944.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:25.133Z,1629052945.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00753,184,80,80,A8,FF
2021-08-15T18:42:25.133Z,1629052945.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:25.569Z,1629052945.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184225.45*57

2021-08-15T18:42:25.614Z,1629052945.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.000008 m, bearing: 219.372234 deg, deltaT: 4.475303 s, approachRate: -0.670344 m/s, LOS rate: 0.037673 deg/s, posRepo size: 4
2021-08-15T18:42:28.069Z,1629052948.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:28.362Z,1629052948.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:28.362Z,1629052948.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:28.362Z,1629052948.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:28.363Z,1629052948.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:28.771Z,1629052948.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00753,184,80,80,A8,FF
2021-08-15T18:42:28.771Z,1629052948.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:28.771Z,1629052948.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:28.777Z,1629052948.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:29.172Z,1629052949.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:29.202Z,1629052949.202 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:42:29.578Z,1629052949.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,0071D,186,80,80,76,FF
2021-08-15T18:42:29.578Z,1629052949.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:30.033Z,1629052950.033 [Micromodem](INFO): Nmea in: $SNTTA,0.058343,,,,184229.91*45

2021-08-15T18:42:30.115Z,1629052950.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 216.772145 deg, deltaT: 4.401530 s, approachRate: -0.736109 m/s, LOS rate: -0.590724 deg/s, posRepo size: 4
2021-08-15T18:42:32.439Z,1629052952.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:32.809Z,1629052952.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:32.809Z,1629052952.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:32.809Z,1629052952.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:32.810Z,1629052952.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:33.213Z,1629052953.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,0071D,186,80,80,76,FF
2021-08-15T18:42:33.214Z,1629052953.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:33.214Z,1629052953.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:33.215Z,1629052953.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:33.617Z,1629052953.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:34.025Z,1629052954.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,006EA,184,80,80,78,FF
2021-08-15T18:42:34.025Z,1629052954.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:34.453Z,1629052954.453 [Micromodem](INFO): Nmea in: $SNTTA,0.053835,,,,184234.35*46

2021-08-15T18:42:34.508Z,1629052954.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 218.856979 deg, deltaT: 4.481469 s, approachRate: -0.682813 m/s, LOS rate: 0.465212 deg/s, posRepo size: 4
2021-08-15T18:42:36.894Z,1629052956.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:37.249Z,1629052957.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:37.249Z,1629052957.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:37.249Z,1629052957.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:37.250Z,1629052957.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:37.653Z,1629052957.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,006EA,184,80,80,78,FF
2021-08-15T18:42:37.653Z,1629052957.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:37.653Z,1629052957.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:37.655Z,1629052957.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:38.069Z,1629052958.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:38.467Z,1629052958.467 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,006B0,184,80,80,A0,FF
2021-08-15T18:42:38.467Z,1629052958.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:38.939Z,1629052958.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184238.79*54

2021-08-15T18:42:38.991Z,1629052958.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 219.300913 deg, deltaT: 4.375546 s, approachRate: -0.795328 m/s, LOS rate: 0.101458 deg/s, posRepo size: 4
2021-08-15T18:42:41.359Z,1629052961.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:41.724Z,1629052961.724 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:41.724Z,1629052961.724 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:41.725Z,1629052961.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:41.726Z,1629052961.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:42.101Z,1629052962.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,006B0,184,80,80,A0,FF
2021-08-15T18:42:42.101Z,1629052962.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:42.102Z,1629052962.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:42.103Z,1629052962.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:42.521Z,1629052962.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:42.921Z,1629052962.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00679,187,80,80,8A,FF
2021-08-15T18:42:42.922Z,1629052962.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:43.355Z,1629052963.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184243.24*50

2021-08-15T18:42:43.393Z,1629052963.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 218.972286 deg, deltaT: 4.525021 s, approachRate: -0.729278 m/s, LOS rate: -0.072625 deg/s, posRepo size: 4
2021-08-15T18:42:45.831Z,1629052965.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:46.149Z,1629052966.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:46.149Z,1629052966.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:46.149Z,1629052966.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:46.150Z,1629052966.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:46.549Z,1629052966.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00679,187,80,80,8A,FF
2021-08-15T18:42:46.550Z,1629052966.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:46.550Z,1629052966.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:46.551Z,1629052966.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:46.989Z,1629052966.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:47.355Z,1629052967.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00644,186,80,80,82,FF
2021-08-15T18:42:47.355Z,1629052967.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:47.809Z,1629052967.809 [Micromodem](INFO): Nmea in: $SNTTA,0.060757,,,,184247.68*41

2021-08-15T18:42:47.871Z,1629052967.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 219.601032 deg, deltaT: 4.406217 s, approachRate: -0.721708 m/s, LOS rate: 0.142695 deg/s, posRepo size: 4
2021-08-15T18:42:50.251Z,1629052970.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:50.597Z,1629052970.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:50.597Z,1629052970.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:50.598Z,1629052970.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:50.599Z,1629052970.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:51.001Z,1629052971.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00644,186,80,80,82,FF
2021-08-15T18:42:51.001Z,1629052971.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:51.001Z,1629052971.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:51.003Z,1629052971.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:51.404Z,1629052971.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:51.813Z,1629052971.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04D,000,0060E,184,80,80,8A,FF
2021-08-15T18:42:51.814Z,1629052971.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:52.241Z,1629052972.241 [Micromodem](INFO): Nmea in: $SNTTA,0.067802,,,,184252.13*41

2021-08-15T18:42:52.300Z,1629052972.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 219.717350 deg, deltaT: 4.463261 s, approachRate: -0.725926 m/s, LOS rate: 0.026061 deg/s, posRepo size: 4
2021-08-15T18:42:54.655Z,1629052974.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:55.038Z,1629052975.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:55.039Z,1629052975.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:55.039Z,1629052975.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:55.040Z,1629052975.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:55.445Z,1629052975.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04D,000,0060E,184,80,80,8A,FF
2021-08-15T18:42:55.445Z,1629052975.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:55.446Z,1629052975.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:55.447Z,1629052975.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:42:55.848Z,1629052975.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:42:56.245Z,1629052976.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,005D9,186,80,80,5A,FF
2021-08-15T18:42:56.246Z,1629052976.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:42:56.681Z,1629052976.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184256.58*5F

2021-08-15T18:42:56.727Z,1629052976.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 218.427565 deg, deltaT: 4.480458 s, approachRate: -0.709750 m/s, LOS rate: -0.287869 deg/s, posRepo size: 4
2021-08-15T18:42:59.125Z,1629052979.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:42:59.481Z,1629052979.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:42:59.481Z,1629052979.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:42:59.481Z,1629052979.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:42:59.482Z,1629052979.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:42:59.889Z,1629052979.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,005D9,186,80,80,5A,FF
2021-08-15T18:42:59.889Z,1629052979.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:42:59.889Z,1629052979.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:42:59.891Z,1629052979.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:00.301Z,1629052980.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:00.693Z,1629052980.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,005A4,186,80,80,67,FF
2021-08-15T18:43:00.694Z,1629052980.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:01.129Z,1629052981.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184301.02*53

2021-08-15T18:43:01.185Z,1629052981.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 218.248395 deg, deltaT: 4.352438 s, approachRate: -0.730623 m/s, LOS rate: -0.041165 deg/s, posRepo size: 4
2021-08-15T18:43:03.532Z,1629052983.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:03.953Z,1629052983.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:03.953Z,1629052983.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:03.953Z,1629052983.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:03.954Z,1629052983.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:04.321Z,1629052984.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,005A4,186,80,80,67,FF
2021-08-15T18:43:04.321Z,1629052984.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:04.321Z,1629052984.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:04.323Z,1629052984.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:04.749Z,1629052984.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:05.129Z,1629052985.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00575,184,80,80,7F,FF
2021-08-15T18:43:05.130Z,1629052985.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:05.577Z,1629052985.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184305.45*54

2021-08-15T18:43:05.603Z,1629052985.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.320000 m, bearing: 220.437102 deg, deltaT: 4.474520 s, approachRate: -0.630236 m/s, LOS rate: 0.489149 deg/s, posRepo size: 4
2021-08-15T18:43:08.081Z,1629052988.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:08.362Z,1629052988.362 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:08.362Z,1629052988.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:08.362Z,1629052988.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:08.363Z,1629052988.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:08.778Z,1629052988.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00575,184,80,80,7F,FF
2021-08-15T18:43:08.778Z,1629052988.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:08.779Z,1629052988.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:08.781Z,1629052988.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:09.177Z,1629052989.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:09.574Z,1629052989.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0053D,186,80,80,9E,FF
2021-08-15T18:43:09.575Z,1629052989.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:10.038Z,1629052990.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184309.91*51

2021-08-15T18:43:10.103Z,1629052990.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 219.277677 deg, deltaT: 4.458209 s, approachRate: -0.753666 m/s, LOS rate: -0.260065 deg/s, posRepo size: 4
2021-08-15T18:43:12.439Z,1629052992.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:12.806Z,1629052992.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:12.806Z,1629052992.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:12.807Z,1629052992.807 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:12.808Z,1629052992.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:13.218Z,1629052993.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0053D,186,80,80,9E,FF
2021-08-15T18:43:13.218Z,1629052993.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:13.218Z,1629052993.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:13.219Z,1629052993.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:13.640Z,1629052993.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:14.021Z,1629052994.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00508,187,80,80,78,FF
2021-08-15T18:43:14.021Z,1629052994.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:14.462Z,1629052994.462 [Micromodem](INFO): Nmea in: $SNTTA,,0.044868,,,184314.35*4B

2021-08-15T18:43:14.504Z,1629052994.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.780003 m, bearing: 219.968291 deg, deltaT: 4.470893 s, approachRate: -0.711267 m/s, LOS rate: 0.154469 deg/s, posRepo size: 4
2021-08-15T18:43:14.504Z,1629052994.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-08-15T18:43:14.505Z,1629052994.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.78 m.
2021-08-15T18:43:14.505Z,1629052994.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T18:43:14.865Z,1629052994.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:43:14.865Z,1629052994.865 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:43:14.866Z,1629052994.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:43:14.866Z,1629052994.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:43:14.866Z,1629052994.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:43:14.866Z,1629052994.866 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:43:15.313Z,1629052995.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:43:15.314Z,1629052995.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:43:15.314Z,1629052995.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:43:15.314Z,1629052995.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:43:16.870Z,1629052996.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:17.261Z,1629052997.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:17.261Z,1629052997.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:17.261Z,1629052997.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:17.262Z,1629052997.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:17.653Z,1629052997.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00508,187,80,80,78,FF
2021-08-15T18:43:17.654Z,1629052997.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:17.654Z,1629052997.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:17.656Z,1629052997.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:18.069Z,1629052998.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:18.465Z,1629052998.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,004D4,186,80,80,76,FF
2021-08-15T18:43:18.466Z,1629052998.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:18.486Z,1629052998.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:18.928Z,1629052998.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 218.886936 deg, deltaT: 4.368293 s, approachRate: -0.714238 m/s, LOS rate: -0.247546 deg/s, posRepo size: 4
2021-08-15T18:43:21.326Z,1629053001.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:21.697Z,1629053001.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:21.698Z,1629053001.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:21.698Z,1629053001.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:21.700Z,1629053001.700 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:22.097Z,1629053002.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,004D4,186,80,80,76,FF
2021-08-15T18:43:22.097Z,1629053002.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:22.097Z,1629053002.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:22.099Z,1629053002.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:22.504Z,1629053002.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:22.905Z,1629053002.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00D,000,004A3,183,80,80,92,FF
2021-08-15T18:43:22.905Z,1629053002.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:22.981Z,1629053002.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:23.338Z,1629053003.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184323.23*50

2021-08-15T18:43:23.394Z,1629053003.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 220.980812 deg, deltaT: 4.495124 s, approachRate: -0.654043 m/s, LOS rate: 0.465811 deg/s, posRepo size: 4
2021-08-15T18:43:25.806Z,1629053005.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:26.133Z,1629053006.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:26.133Z,1629053006.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:26.133Z,1629053006.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:26.134Z,1629053006.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:26.541Z,1629053006.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00D,000,004A3,183,80,80,92,FF
2021-08-15T18:43:26.541Z,1629053006.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:26.541Z,1629053006.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:26.543Z,1629053006.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:26.980Z,1629053006.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:27.350Z,1629053007.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00472,183,80,80,8D,FF
2021-08-15T18:43:27.351Z,1629053007.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:27.376Z,1629053007.376 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:27.810Z,1629053007.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184327.68*5B

2021-08-15T18:43:27.845Z,1629053007.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.779999 m, bearing: 221.132360 deg, deltaT: 4.395562 s, approachRate: -0.668856 m/s, LOS rate: 0.034478 deg/s, posRepo size: 4
2021-08-15T18:43:30.206Z,1629053010.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:30.589Z,1629053010.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:30.590Z,1629053010.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:30.590Z,1629053010.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:30.591Z,1629053010.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:30.993Z,1629053010.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00472,183,80,80,8D,FF
2021-08-15T18:43:30.994Z,1629053010.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:30.994Z,1629053010.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:30.995Z,1629053010.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:31.401Z,1629053011.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:31.797Z,1629053011.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,0043D,184,80,80,98,FF
2021-08-15T18:43:31.798Z,1629053011.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:31.837Z,1629053011.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:32.237Z,1629053012.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184332.13*53

2021-08-15T18:43:32.263Z,1629053012.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.600000 m, bearing: 221.077118 deg, deltaT: 4.461007 s, approachRate: -0.712843 m/s, LOS rate: -0.012383 deg/s, posRepo size: 4
2021-08-15T18:43:34.651Z,1629053014.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:35.025Z,1629053015.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:35.025Z,1629053015.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:35.025Z,1629053015.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:35.026Z,1629053015.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:35.433Z,1629053015.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,0043D,184,80,80,98,FF
2021-08-15T18:43:35.433Z,1629053015.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:35.433Z,1629053015.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:35.435Z,1629053015.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:35.841Z,1629053015.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:36.237Z,1629053016.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0040B,185,80,80,60,FF
2021-08-15T18:43:36.237Z,1629053016.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:36.335Z,1629053016.335 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:36.682Z,1629053016.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184336.57*57

2021-08-15T18:43:36.704Z,1629053016.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 221.372646 deg, deltaT: 4.497345 s, approachRate: -0.667060 m/s, LOS rate: 0.065712 deg/s, posRepo size: 4
2021-08-15T18:43:39.111Z,1629053019.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:39.469Z,1629053019.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:39.469Z,1629053019.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:39.469Z,1629053019.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:39.470Z,1629053019.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:39.877Z,1629053019.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0040B,185,80,80,60,FF
2021-08-15T18:43:39.877Z,1629053019.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:39.877Z,1629053019.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:39.879Z,1629053019.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:40.299Z,1629053020.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:40.689Z,1629053020.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,003D5,184,80,80,98,FF
2021-08-15T18:43:40.689Z,1629053020.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:40.742Z,1629053020.742 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:41.137Z,1629053021.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184341.01*54

2021-08-15T18:43:41.168Z,1629053021.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 222.466556 deg, deltaT: 4.407310 s, approachRate: -0.735143 m/s, LOS rate: 0.248203 deg/s, posRepo size: 4
2021-08-15T18:43:43.542Z,1629053023.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:43.920Z,1629053023.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:43.921Z,1629053023.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:43.921Z,1629053023.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:43.923Z,1629053023.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:44.325Z,1629053024.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,003D5,184,80,80,98,FF
2021-08-15T18:43:44.325Z,1629053024.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:44.326Z,1629053024.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:44.329Z,1629053024.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:44.730Z,1629053024.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:45.129Z,1629053025.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,0039F,184,80,80,89,FF
2021-08-15T18:43:45.130Z,1629053025.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:45.200Z,1629053025.200 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:45.562Z,1629053025.562 [Micromodem](INFO): Nmea in: $SNTTA,0.039617,,,,184345.46*47

2021-08-15T18:43:45.579Z,1629053025.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 222.244957 deg, deltaT: 4.457819 s, approachRate: -0.726812 m/s, LOS rate: -0.049710 deg/s, posRepo size: 4
2021-08-15T18:43:48.061Z,1629053028.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:48.355Z,1629053028.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:48.355Z,1629053028.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:48.355Z,1629053028.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:48.356Z,1629053028.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:48.761Z,1629053028.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,0039F,184,80,80,89,FF
2021-08-15T18:43:48.761Z,1629053028.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:48.762Z,1629053028.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:48.763Z,1629053028.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:49.179Z,1629053029.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:49.569Z,1629053029.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0037B,187,80,80,68,FF
2021-08-15T18:43:49.569Z,1629053029.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:49.632Z,1629053029.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:50.015Z,1629053030.015 [Micromodem](INFO): Nmea in: $SNTTA,0.029279,,,,184349.90*4D

2021-08-15T18:43:50.094Z,1629053030.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 219.375800 deg, deltaT: 4.432369 s, approachRate: -0.487324 m/s, LOS rate: -0.647319 deg/s, posRepo size: 4
2021-08-15T18:43:52.431Z,1629053032.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:52.801Z,1629053032.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:52.801Z,1629053032.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:52.801Z,1629053032.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:52.802Z,1629053032.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:53.210Z,1629053033.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0037B,187,80,80,68,FF
2021-08-15T18:43:53.210Z,1629053033.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:53.210Z,1629053033.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:53.212Z,1629053033.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:53.625Z,1629053033.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:54.014Z,1629053034.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,0035E,182,80,80,A0,FF
2021-08-15T18:43:54.014Z,1629053034.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:54.099Z,1629053034.099 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:54.458Z,1629053034.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184354.34*56

2021-08-15T18:43:54.474Z,1629053034.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.220002 m, bearing: 224.186466 deg, deltaT: 4.471114 s, approachRate: -0.389165 m/s, LOS rate: 1.075943 deg/s, posRepo size: 4
2021-08-15T18:43:56.897Z,1629053036.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:43:57.253Z,1629053037.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:43:57.253Z,1629053037.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:43:57.253Z,1629053037.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:43:57.254Z,1629053037.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:43:57.657Z,1629053037.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,0035E,182,80,80,A0,FF
2021-08-15T18:43:57.657Z,1629053037.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:43:57.657Z,1629053037.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:43:57.659Z,1629053037.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:43:58.053Z,1629053038.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:43:58.473Z,1629053038.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00302,183,80,80,B5,FF
2021-08-15T18:43:58.473Z,1629053038.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:43:58.493Z,1629053038.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:43:58.909Z,1629053038.909 [Micromodem](INFO): Nmea in: $SNTTA,0.025489,,,,184358.79*4F

2021-08-15T18:43:58.992Z,1629053038.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 225.203877 deg, deltaT: 4.389935 s, approachRate: -1.257423 m/s, LOS rate: 0.231760 deg/s, posRepo size: 4
2021-08-15T18:44:01.342Z,1629053041.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:01.712Z,1629053041.712 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:01.713Z,1629053041.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:01.714Z,1629053041.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:01.715Z,1629053041.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:02.093Z,1629053042.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00302,183,80,80,B5,FF
2021-08-15T18:44:02.093Z,1629053042.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:02.093Z,1629053042.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:02.095Z,1629053042.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:02.224Z,1629053042.224 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T18:44:02.224Z,1629053042.224 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T18:44:02.224Z,1629053042.224 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T18:44:02.432Z,1629053042.432 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T18:44:02.528Z,1629053042.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:02.612Z,1629053042.612 [RDI_Pathfinder](INFO): Powering down
2021-08-15T18:44:02.913Z,1629053042.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,002D7,183,80,80,B3,FF
2021-08-15T18:44:02.914Z,1629053042.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:02.982Z,1629053042.982 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:03.346Z,1629053043.346 [Micromodem](INFO): Nmea in: $SNTTA,0.036075,,,,184403.23*4C

2021-08-15T18:44:03.391Z,1629053043.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 228.289729 deg, deltaT: 4.488864 s, approachRate: -0.574756 m/s, LOS rate: 0.687446 deg/s, posRepo size: 4
2021-08-15T18:44:03.500Z,1629053043.500 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T18:44:03.500Z,1629053043.500 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T18:44:05.781Z,1629053045.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:06.134Z,1629053046.134 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:06.134Z,1629053046.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:06.134Z,1629053046.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:06.135Z,1629053046.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:06.550Z,1629053046.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,002D7,183,80,80,B3,FF
2021-08-15T18:44:06.551Z,1629053046.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:06.551Z,1629053046.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:06.553Z,1629053046.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:06.965Z,1629053046.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:07.351Z,1629053047.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB7,000,002B6,185,80,80,90,FF
2021-08-15T18:44:07.351Z,1629053047.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:07.405Z,1629053047.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:07.785Z,1629053047.785 [Micromodem](INFO): Nmea in: $SNTTA,0.004926,,,,184407.69*48

2021-08-15T18:44:07.805Z,1629053047.805 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T18:44:07.805Z,1629053047.805 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:44:07.806Z,1629053047.806 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T18:44:07.806Z,1629053047.806 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:44:07.806Z,1629053047.806 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T18:44:07.806Z,1629053047.806 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 
2021-08-15T18:44:07.807Z,1629053047.807 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T18:44:07.807Z,1629053047.807 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T18:44:07.807Z,1629053047.807 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T18:44:07.809Z,1629053047.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.140001 m, bearing: 233.565695 deg, deltaT: 4.423128 s, approachRate: -0.447647 m/s, LOS rate: 1.192813 deg/s, posRepo size: 4
2021-08-15T18:44:08.225Z,1629053048.225 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T184408: (41.552319, -70.708603)
2021-08-15T18:44:08.225Z,1629053048.225 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T18:44:08.225Z,1629053048.225 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T18:44:08.225Z,1629053048.225 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:44:08.225Z,1629053048.225 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T18:44:08.226Z,1629053048.226 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:44:08.226Z,1629053048.226 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T18:44:08.226Z,1629053048.226 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T18:44:08.226Z,1629053048.226 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:44:10.216Z,1629053050.216 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:10.590Z,1629053050.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:10.590Z,1629053050.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:10.591Z,1629053050.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:10.591Z,1629053050.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:10.989Z,1629053050.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB7,000,002B6,185,80,80,90,FF
2021-08-15T18:44:10.989Z,1629053050.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:10.989Z,1629053050.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:10.991Z,1629053050.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:11.411Z,1629053051.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:11.789Z,1629053051.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,002B8,186,80,80,CA,FF
2021-08-15T18:44:11.789Z,1629053051.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:11.833Z,1629053051.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:12.238Z,1629053052.238 [Micromodem](INFO): Nmea in: $SNTTA,0.018601,,,,184412.13*46

2021-08-15T18:44:12.288Z,1629053052.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.259999 m, bearing: 239.420943 deg, deltaT: 4.430378 s, approachRate: 0.027085 m/s, LOS rate: 1.321614 deg/s, posRepo size: 4
2021-08-15T18:44:14.666Z,1629053054.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:15.025Z,1629053055.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:15.025Z,1629053055.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:15.025Z,1629053055.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:15.026Z,1629053055.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:15.429Z,1629053055.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,002B8,186,80,80,CA,FF
2021-08-15T18:44:15.429Z,1629053055.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:15.429Z,1629053055.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:15.431Z,1629053055.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:15.833Z,1629053055.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:16.247Z,1629053056.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,002DD,188,80,80,89,FF
2021-08-15T18:44:16.248Z,1629053056.248 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:16.311Z,1629053056.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:16.685Z,1629053056.685 [Micromodem](INFO): Nmea in: $SNTTA,0.023928,,,,184416.57*4E

2021-08-15T18:44:16.725Z,1629053056.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 266.757928 deg, deltaT: 4.479840 s, approachRate: 0.495553 m/s, LOS rate: 6.102224 deg/s, posRepo size: 4
2021-08-15T18:44:19.109Z,1629053059.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:19.469Z,1629053059.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:19.470Z,1629053059.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:19.470Z,1629053059.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:19.471Z,1629053059.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:19.869Z,1629053059.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,002DD,188,80,80,89,FF
2021-08-15T18:44:19.869Z,1629053059.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:19.869Z,1629053059.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:19.871Z,1629053059.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:20.172Z,1629053060.172 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T18:44:20.238Z,1629053060.238 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:20.312Z,1629053060.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:20.677Z,1629053060.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,0030E,186,80,80,72,FF
2021-08-15T18:44:20.678Z,1629053060.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:20.697Z,1629053060.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:21.122Z,1629053061.122 [Micromodem](INFO): Nmea in: $SNTTA,0.034729,,,,184421.01*40

2021-08-15T18:44:21.179Z,1629053061.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 228.754537 deg, deltaT: 4.381849 s, approachRate: 0.670950 m/s, LOS rate: -8.672912 deg/s, posRepo size: 4
2021-08-15T18:44:21.243Z,1629053061.243 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:22.246Z,1629053062.246 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:23.250Z,1629053063.250 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:23.523Z,1629053063.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:23.923Z,1629053063.923 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:23.924Z,1629053063.924 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:23.925Z,1629053063.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:23.926Z,1629053063.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:24.254Z,1629053064.254 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:24.321Z,1629053064.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,0030E,186,80,80,72,FF
2021-08-15T18:44:24.321Z,1629053064.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:24.321Z,1629053064.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:24.323Z,1629053064.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:24.721Z,1629053064.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:25.125Z,1629053065.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,00336,189,80,80,84,FF
2021-08-15T18:44:25.126Z,1629053065.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:25.180Z,1629053065.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:25.261Z,1629053065.261 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:25.561Z,1629053065.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184425.46*52

2021-08-15T18:44:25.603Z,1629053065.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 224.352439 deg, deltaT: 4.482755 s, approachRate: 0.535385 m/s, LOS rate: -0.982007 deg/s, posRepo size: 4
2021-08-15T18:44:26.262Z,1629053066.262 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:27.267Z,1629053067.267 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:28.049Z,1629053068.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:28.270Z,1629053068.270 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:28.350Z,1629053068.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:28.350Z,1629053068.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:28.351Z,1629053068.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:28.351Z,1629053068.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:28.763Z,1629053068.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,00336,189,80,80,84,FF
2021-08-15T18:44:28.764Z,1629053068.764 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:28.765Z,1629053068.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:28.768Z,1629053068.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:29.169Z,1629053069.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:29.282Z,1629053069.282 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:29.573Z,1629053069.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,0036E,187,80,80,55,FF
2021-08-15T18:44:29.574Z,1629053069.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:29.639Z,1629053069.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:29.993Z,1629053069.993 [Micromodem](INFO): Nmea in: $SNTTA,0.445729,0.445604,,,184429.90*5B

2021-08-15T18:44:30.051Z,1629053070.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.179998 m, bearing: 279.197397 deg, deltaT: 4.458355 s, approachRate: 0.753641 m/s, LOS rate: 12.301613 deg/s, posRepo size: 4
2021-08-15T18:44:30.052Z,1629053070.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.18 m. Rolling out.
2021-08-15T18:44:30.052Z,1629053070.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T18:44:30.278Z,1629053070.278 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T18:44:30.413Z,1629053070.413 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T18:44:30.414Z,1629053070.414 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T18:44:30.772Z,1629053070.772 [DDM](ERROR): Could not parse latch state
2021-08-15T18:44:30.961Z,1629053070.961 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005715
CHAN A1 (24V): -0.023953
CHAN A2 (12V): -0.005613
CHAN A3 (5V): -0.001621
CHAN B0 (3.3V): 0.000899
CHAN B1 (3.15aV): 0.000328
CHAN B2 (3.15bV): 0.000879
CHAN B3 (GND): 0.002150
OPEN: 0.006338
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T18:44:32.422Z,1629053072.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:32.812Z,1629053072.812 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:32.812Z,1629053072.812 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:32.813Z,1629053072.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:32.814Z,1629053072.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:33.209Z,1629053073.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,0036E,187,80,80,55,FF
2021-08-15T18:44:33.209Z,1629053073.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:33.209Z,1629053073.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:33.211Z,1629053073.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:33.625Z,1629053073.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:34.017Z,1629053074.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0038E,187,80,80,6A,FF
2021-08-15T18:44:34.017Z,1629053074.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:34.090Z,1629053074.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:34.449Z,1629053074.449 [Micromodem](INFO): Nmea in: $SNTTA,0.019026,,,,184434.34*45

2021-08-15T18:44:34.481Z,1629053074.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 244.469874 deg, deltaT: 4.451966 s, approachRate: 0.431271 m/s, LOS rate: -7.800492 deg/s, posRepo size: 4
2021-08-15T18:44:36.887Z,1629053076.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:37.245Z,1629053077.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:37.246Z,1629053077.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:37.246Z,1629053077.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:37.247Z,1629053077.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:37.649Z,1629053077.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0038E,187,80,80,6A,FF
2021-08-15T18:44:37.650Z,1629053077.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:37.650Z,1629053077.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:37.651Z,1629053077.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:38.053Z,1629053078.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:38.462Z,1629053078.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,003BF,186,80,80,41,FF
2021-08-15T18:44:38.462Z,1629053078.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:38.481Z,1629053078.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:38.900Z,1629053078.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184438.78*53

2021-08-15T18:44:38.961Z,1629053078.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 220.384783 deg, deltaT: 4.390843 s, approachRate: 0.669575 m/s, LOS rate: -5.485300 deg/s, posRepo size: 4
2021-08-15T18:44:41.335Z,1629053081.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:41.689Z,1629053081.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:41.689Z,1629053081.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:41.689Z,1629053081.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:41.690Z,1629053081.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:42.097Z,1629053082.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,003BF,186,80,80,41,FF
2021-08-15T18:44:42.097Z,1629053082.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:42.097Z,1629053082.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:42.099Z,1629053082.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:42.497Z,1629053082.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:42.898Z,1629053082.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,003CF,187,80,80,5B,FF
2021-08-15T18:44:42.898Z,1629053082.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:42.969Z,1629053082.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:43.331Z,1629053083.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184443.23*51

2021-08-15T18:44:43.393Z,1629053083.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 236.399896 deg, deltaT: 4.487821 s, approachRate: 0.213913 m/s, LOS rate: 3.568572 deg/s, posRepo size: 4
2021-08-15T18:44:44.953Z,1629053084.953 [PowerOnly](INFO): Powering down loadControl
2021-08-15T18:44:45.826Z,1629053085.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:46.125Z,1629053086.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:46.125Z,1629053086.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:46.125Z,1629053086.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:46.126Z,1629053086.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:46.537Z,1629053086.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,003CF,187,80,80,5B,FF
2021-08-15T18:44:46.538Z,1629053086.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:46.538Z,1629053086.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:46.539Z,1629053086.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:46.959Z,1629053086.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:47.348Z,1629053087.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,003D9,186,80,80,77,FF
2021-08-15T18:44:47.348Z,1629053087.348 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:47.401Z,1629053087.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:47.810Z,1629053087.810 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184447.68*5A

2021-08-15T18:44:47.867Z,1629053087.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 203.960459 deg, deltaT: 4.431426 s, approachRate: 0.135397 m/s, LOS rate: -7.320316 deg/s, posRepo size: 4
2021-08-15T18:44:50.211Z,1629053090.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:50.581Z,1629053090.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:50.581Z,1629053090.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:50.581Z,1629053090.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:50.582Z,1629053090.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:50.987Z,1629053090.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,003D9,186,80,80,77,FF
2021-08-15T18:44:50.987Z,1629053090.987 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:50.987Z,1629053090.987 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:50.989Z,1629053090.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:51.410Z,1629053091.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:51.821Z,1629053091.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,003FE,188,80,80,32,FF
2021-08-15T18:44:51.821Z,1629053091.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:51.859Z,1629053091.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:52.229Z,1629053092.229 [Micromodem](INFO): Nmea in: $SNTTA,,0.338438,,,184452.12*4A

2021-08-15T18:44:52.267Z,1629053092.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 200.121633 deg, deltaT: 4.458990 s, approachRate: 0.497870 m/s, LOS rate: -0.860918 deg/s, posRepo size: 4
2021-08-15T18:44:54.641Z,1629053094.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:55.022Z,1629053095.022 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:55.022Z,1629053095.022 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:55.022Z,1629053095.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:55.023Z,1629053095.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:55.433Z,1629053095.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,003FE,188,80,80,32,FF
2021-08-15T18:44:55.434Z,1629053095.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:55.434Z,1629053095.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:55.435Z,1629053095.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:44:55.880Z,1629053095.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:44:55.893Z,1629053095.893 [Micromodem](INFO): Nmea in: 39330*71

2021-08-15T18:44:55.893Z,1629053095.893 [Micromodem](ERROR): Response from modem failed NMEA checksum: 39330*71
 expected 0
2021-08-15T18:44:56.233Z,1629053096.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9B,000,00408,187,80,80,6E,FF
2021-08-15T18:44:56.234Z,1629053096.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:44:56.286Z,1629053096.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:44:56.668Z,1629053096.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 229.768383 deg, deltaT: 4.426873 s, approachRate: 0.135537 m/s, LOS rate: 6.696996 deg/s, posRepo size: 4
2021-08-15T18:44:58.292Z,1629053098.292 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T18:44:58.292Z,1629053098.292 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T18:44:58.292Z,1629053098.292 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T18:44:58.416Z,1629053098.416 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T18:44:58.744Z,1629053098.744 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T18:44:59.073Z,1629053099.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:44:59.477Z,1629053099.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:44:59.477Z,1629053099.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:44:59.477Z,1629053099.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:44:59.478Z,1629053099.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:44:59.612Z,1629053099.612 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T18:44:59.612Z,1629053099.612 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T18:44:59.869Z,1629053099.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9B,000,00408,187,80,80,6E,FF
2021-08-15T18:44:59.869Z,1629053099.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:44:59.869Z,1629053099.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:44:59.871Z,1629053099.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:00.281Z,1629053100.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:00.681Z,1629053100.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,0040D,186,80,80,69,FF
2021-08-15T18:45:00.682Z,1629053100.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:00.700Z,1629053100.700 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:01.113Z,1629053101.113 [Micromodem](INFO): Nmea in: $SNTTA,0.053440,,,,184501.00*4F

2021-08-15T18:45:01.138Z,1629053101.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 199.833590 deg, deltaT: 4.413987 s, approachRate: 0.067966 m/s, LOS rate: -6.781804 deg/s, posRepo size: 4
2021-08-15T18:45:03.553Z,1629053103.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:03.909Z,1629053103.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:03.909Z,1629053103.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:03.910Z,1629053103.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:03.910Z,1629053103.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:04.334Z,1629053104.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,0040D,186,80,80,69,FF
2021-08-15T18:45:04.334Z,1629053104.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:04.335Z,1629053104.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:04.338Z,1629053104.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:04.717Z,1629053104.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:05.134Z,1629053105.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,00417,186,80,80,53,FF
2021-08-15T18:45:05.134Z,1629053105.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:05.184Z,1629053105.184 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:05.545Z,1629053105.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184505.47*50

2021-08-15T18:45:05.575Z,1629053105.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 198.743929 deg, deltaT: 4.483914 s, approachRate: 0.133811 m/s, LOS rate: -0.243016 deg/s, posRepo size: 4
2021-08-15T18:45:07.997Z,1629053107.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:08.366Z,1629053108.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:08.366Z,1629053108.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:08.366Z,1629053108.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:08.368Z,1629053108.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:08.768Z,1629053108.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,00417,186,80,80,53,FF
2021-08-15T18:45:08.769Z,1629053108.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:08.769Z,1629053108.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:08.770Z,1629053108.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:09.168Z,1629053109.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:09.565Z,1629053109.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,188,000,0042E,186,80,80,4C,FF
2021-08-15T18:45:09.566Z,1629053109.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:09.585Z,1629053109.585 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:09.994Z,1629053109.994 [Micromodem](INFO): Nmea in: $SNTTA,0.064294,0.405975,,,184509.91*50

2021-08-15T18:45:10.047Z,1629053110.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 203.315689 deg, deltaT: 4.400563 s, approachRate: 0.313597 m/s, LOS rate: 1.038903 deg/s, posRepo size: 4
2021-08-15T18:45:12.448Z,1629053112.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:12.793Z,1629053112.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:12.793Z,1629053112.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:12.793Z,1629053112.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:12.794Z,1629053112.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:13.194Z,1629053113.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
188,000,0042E,186,80,80,4C,FF
2021-08-15T18:45:13.194Z,1629053113.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:13.194Z,1629053113.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:13.195Z,1629053113.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:13.617Z,1629053113.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:14.005Z,1629053114.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,0043A,186,80,80,54,FF
2021-08-15T18:45:14.006Z,1629053114.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:14.111Z,1629053114.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:14.441Z,1629053114.441 [Micromodem](INFO): Nmea in: $SNTTA,0.149665,,,,184514.35*42

2021-08-15T18:45:14.487Z,1629053114.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 199.549181 deg, deltaT: 4.526137 s, approachRate: 0.159076 m/s, LOS rate: -0.832168 deg/s, posRepo size: 4
2021-08-15T18:45:16.858Z,1629053116.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:17.237Z,1629053117.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:17.237Z,1629053117.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:17.237Z,1629053117.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:17.238Z,1629053117.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:17.641Z,1629053117.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,0043A,186,80,80,54,FF
2021-08-15T18:45:17.641Z,1629053117.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:17.641Z,1629053117.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:17.643Z,1629053117.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:18.068Z,1629053118.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:18.449Z,1629053118.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,0043E,186,80,80,5A,FF
2021-08-15T18:45:18.449Z,1629053118.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:18.496Z,1629053118.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:18.894Z,1629053118.894 [Micromodem](INFO): Nmea in: $SNTTA,0.074433,,,,184518.78*49

2021-08-15T18:45:18.925Z,1629053118.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 199.890964 deg, deltaT: 4.385252 s, approachRate: 0.054728 m/s, LOS rate: 0.077939 deg/s, posRepo size: 4
2021-08-15T18:45:21.312Z,1629053121.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:21.681Z,1629053121.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:21.681Z,1629053121.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:21.681Z,1629053121.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:21.682Z,1629053121.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:22.104Z,1629053122.104 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,0043E,186,80,80,5A,FF
2021-08-15T18:45:22.105Z,1629053122.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:22.105Z,1629053122.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:22.107Z,1629053122.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:22.536Z,1629053122.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:22.925Z,1629053122.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,154,000,00453,185,80,80,50,FF
2021-08-15T18:45:22.926Z,1629053122.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:23.010Z,1629053123.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:23.377Z,1629053123.377 [Micromodem](INFO): Nmea in: $SNTTA,0.074931,,,,184523.24*47

2021-08-15T18:45:23.429Z,1629053123.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 204.169381 deg, deltaT: 4.513603 s, approachRate: 0.279157 m/s, LOS rate: 0.947894 deg/s, posRepo size: 4
2021-08-15T18:45:25.837Z,1629053125.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:26.157Z,1629053126.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:26.157Z,1629053126.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:26.157Z,1629053126.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:26.158Z,1629053126.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:26.565Z,1629053126.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
154,000,00453,185,80,80,50,FF
2021-08-15T18:45:26.565Z,1629053126.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:26.565Z,1629053126.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:26.567Z,1629053126.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:26.968Z,1629053126.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:27.827Z,1629053127.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184527.70*54

2021-08-15T18:45:28.613Z,1629053128.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:30.197Z,1629053130.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,185,80,80,50,FF
2021-08-15T18:45:30.197Z,1629053130.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,185,80,80,50,FF
2021-08-15T18:45:30.197Z,1629053130.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:45:31.451Z,1629053131.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:31.857Z,1629053131.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:31.857Z,1629053131.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:31.857Z,1629053131.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:31.858Z,1629053131.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:32.217Z,1629053132.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,185,80,80,50,FF
2021-08-15T18:45:32.217Z,1629053132.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:32.217Z,1629053132.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:32.219Z,1629053132.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:32.624Z,1629053132.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:33.034Z,1629053133.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,00469,186,80,80,7B,FF
2021-08-15T18:45:33.034Z,1629053133.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:33.057Z,1629053133.057 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:33.469Z,1629053133.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184533.35*50

2021-08-15T18:45:33.519Z,1629053133.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 208.483738 deg, deltaT: 10.047142 s, approachRate: 0.131380 m/s, LOS rate: 0.429411 deg/s, posRepo size: 4
2021-08-15T18:45:36.041Z,1629053136.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:36.257Z,1629053136.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:36.257Z,1629053136.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:36.257Z,1629053136.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:36.258Z,1629053136.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:36.665Z,1629053136.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,00469,186,80,80,7B,FF
2021-08-15T18:45:36.665Z,1629053136.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:36.665Z,1629053136.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:36.667Z,1629053136.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:37.108Z,1629053137.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:37.902Z,1629053137.902 [Micromodem](INFO): Nmea in: $SNTTA,0.455244,,,,184537.81*43

2021-08-15T18:45:38.683Z,1629053138.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,03717,183,80,80,84,FF
2021-08-15T18:45:38.683Z,1629053138.684 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:38.738Z,1629053138.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:39.138Z,1629053139.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 808.680054 m, bearing: 218.956959 deg, deltaT: 5.681443 s, approachRate: 137.014496 m/s, LOS rate: 1.843409 deg/s, posRepo size: 4
2021-08-15T18:45:39.521Z,1629053139.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:45:39.521Z,1629053139.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:45:39.521Z,1629053139.521 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:45:39.522Z,1629053139.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:45:39.522Z,1629053139.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:45:39.522Z,1629053139.522 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:45:39.956Z,1629053139.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:45:39.956Z,1629053139.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:45:39.956Z,1629053139.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:45:39.956Z,1629053139.956 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:45:41.533Z,1629053141.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:41.925Z,1629053141.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:41.925Z,1629053141.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:41.925Z,1629053141.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:41.926Z,1629053141.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:42.321Z,1629053142.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,03717,183,80,80,84,FF
2021-08-15T18:45:42.321Z,1629053142.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:42.321Z,1629053142.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:42.323Z,1629053142.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:42.733Z,1629053142.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:43.157Z,1629053143.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00482,187,80,80,5C,FF
2021-08-15T18:45:43.157Z,1629053143.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:43.573Z,1629053143.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184543.46*53

2021-08-15T18:45:43.595Z,1629053143.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 214.895988 deg, deltaT: 4.447754 s, approachRate: -174.681442 m/s, LOS rate: -0.913039 deg/s, posRepo size: 4
2021-08-15T18:45:43.990Z,1629053143.990 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:45:43.990Z,1629053143.990 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:45:43.991Z,1629053143.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:45:43.991Z,1629053143.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:45:43.991Z,1629053143.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:45:43.991Z,1629053143.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:45:44.382Z,1629053144.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:45:44.382Z,1629053144.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:45:44.382Z,1629053144.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:45:44.382Z,1629053144.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:45:45.998Z,1629053145.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:46.361Z,1629053146.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:46.362Z,1629053146.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:46.362Z,1629053146.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:46.363Z,1629053146.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:46.761Z,1629053146.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00482,187,80,80,5C,FF
2021-08-15T18:45:46.761Z,1629053146.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:46.761Z,1629053146.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:46.763Z,1629053146.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:47.177Z,1629053147.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:47.569Z,1629053147.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,004D7,183,80,80,7C,FF
2021-08-15T18:45:47.569Z,1629053147.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:47.612Z,1629053147.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:48.006Z,1629053148.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184547.90*5C

2021-08-15T18:45:48.041Z,1629053148.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 218.807583 deg, deltaT: 4.425972 s, approachRate: 1.152289 m/s, LOS rate: 0.883782 deg/s, posRepo size: 4
2021-08-15T18:45:50.475Z,1629053150.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:50.837Z,1629053150.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:50.837Z,1629053150.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:50.837Z,1629053150.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:50.838Z,1629053150.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:51.245Z,1629053151.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,004D7,183,80,80,7C,FF
2021-08-15T18:45:51.245Z,1629053151.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:51.245Z,1629053151.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:51.247Z,1629053151.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:51.644Z,1629053151.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:52.057Z,1629053152.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,00490,183,80,80,9B,FF
2021-08-15T18:45:52.058Z,1629053152.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:52.163Z,1629053152.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:52.485Z,1629053152.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184552.38*5A

2021-08-15T18:45:52.507Z,1629053152.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 217.804419 deg, deltaT: 4.550808 s, approachRate: -0.936097 m/s, LOS rate: -0.220436 deg/s, posRepo size: 4
2021-08-15T18:45:53.273Z,1629053153.273 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:45:54.890Z,1629053154.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:45:55.285Z,1629053155.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:45:55.285Z,1629053155.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:45:55.286Z,1629053155.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:45:55.287Z,1629053155.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:45:55.693Z,1629053155.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,00490,183,80,80,9B,FF
2021-08-15T18:45:55.693Z,1629053155.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:45:55.693Z,1629053155.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:45:55.695Z,1629053155.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:45:56.116Z,1629053156.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:45:56.918Z,1629053156.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184556.83*5E

2021-08-15T18:45:57.720Z,1629053157.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,036EC,184,80,80,48,FF
2021-08-15T18:45:57.721Z,1629053157.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:45:57.744Z,1629053157.744 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:45:58.213Z,1629053158.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 806.100037 m, bearing: 215.083012 deg, deltaT: 5.581026 s, approachRate: 138.598175 m/s, LOS rate: -0.487618 deg/s, posRepo size: 4
2021-08-15T18:45:58.541Z,1629053158.541 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:45:58.541Z,1629053158.541 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:45:58.542Z,1629053158.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:45:58.542Z,1629053158.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:45:58.542Z,1629053158.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:45:58.542Z,1629053158.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:45:58.949Z,1629053158.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:45:58.949Z,1629053158.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:45:58.949Z,1629053158.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:45:58.950Z,1629053158.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:46:00.556Z,1629053160.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:00.937Z,1629053160.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:00.937Z,1629053160.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:00.937Z,1629053160.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:00.938Z,1629053160.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:01.342Z,1629053161.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,036EC,184,80,80,48,FF
2021-08-15T18:46:01.342Z,1629053161.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:01.342Z,1629053161.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:01.345Z,1629053161.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:01.787Z,1629053161.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:02.155Z,1629053162.155 [Micromodem](INFO): Nmea in: $SNTTA,0.093606,0.159737,,,184602.48*5F

2021-08-15T18:46:03.365Z,1629053163.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,0373E,185,80,80,6B,FF
2021-08-15T18:46:03.366Z,1629053163.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:03.834Z,1629053163.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 811.020081 m, bearing: 216.165898 deg, deltaT: 5.673555 s, approachRate: 0.867189 m/s, LOS rate: 0.190865 deg/s, posRepo size: 4
2021-08-15T18:46:06.231Z,1629053166.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:06.589Z,1629053166.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:06.589Z,1629053166.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:06.589Z,1629053166.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:06.590Z,1629053166.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:07.001Z,1629053167.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,0373E,185,80,80,6B,FF
2021-08-15T18:46:07.002Z,1629053167.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:07.002Z,1629053167.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:07.003Z,1629053167.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:07.413Z,1629053167.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:07.853Z,1629053167.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,005D5,183,80,80,8A,FF
2021-08-15T18:46:07.853Z,1629053167.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:08.248Z,1629053168.247 [Micromodem](INFO): Nmea in: $SNTTA,0.058419,,,,184608.14*47

2021-08-15T18:46:08.284Z,1629053168.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 217.292442 deg, deltaT: 4.542173 s, approachRate: -167.087448 m/s, LOS rate: 0.248019 deg/s, posRepo size: 4
2021-08-15T18:46:10.666Z,1629053170.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:11.037Z,1629053171.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:11.037Z,1629053171.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:11.037Z,1629053171.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:11.039Z,1629053171.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:11.449Z,1629053171.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,005D5,183,80,80,8A,FF
2021-08-15T18:46:11.449Z,1629053171.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:11.450Z,1629053171.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:11.451Z,1629053171.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:11.873Z,1629053171.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:12.249Z,1629053172.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,004B6,186,80,80,32,FF
2021-08-15T18:46:12.250Z,1629053172.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:12.701Z,1629053172.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184612.59*5A

2021-08-15T18:46:12.727Z,1629053172.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.859997 m, bearing: 240.284935 deg, deltaT: 4.342853 s, approachRate: -3.965135 m/s, LOS rate: 5.294329 deg/s, posRepo size: 4
2021-08-15T18:46:13.120Z,1629053173.120 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:46:13.121Z,1629053173.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:46:13.121Z,1629053173.121 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:46:13.123Z,1629053173.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:46:13.125Z,1629053173.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:46:13.125Z,1629053173.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:46:13.501Z,1629053173.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:46:13.501Z,1629053173.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:46:13.501Z,1629053173.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:46:13.502Z,1629053173.502 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:46:15.153Z,1629053175.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:15.485Z,1629053175.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:15.485Z,1629053175.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:15.485Z,1629053175.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:15.486Z,1629053175.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:15.885Z,1629053175.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,004B6,186,80,80,32,FF
2021-08-15T18:46:15.885Z,1629053175.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:15.886Z,1629053175.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:15.887Z,1629053175.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:16.302Z,1629053176.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:16.693Z,1629053176.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,004A7,184,80,80,74,FF
2021-08-15T18:46:16.693Z,1629053176.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:16.748Z,1629053176.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:17.149Z,1629053177.149 [Micromodem](INFO): Nmea in: $SNTTA,0.036017,,,,184617.02*4C

2021-08-15T18:46:17.179Z,1629053177.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 223.835695 deg, deltaT: 4.445418 s, approachRate: -0.202455 m/s, LOS rate: -3.700269 deg/s, posRepo size: 4
2021-08-15T18:46:19.546Z,1629053179.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:19.933Z,1629053179.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:19.933Z,1629053179.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:19.933Z,1629053179.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:19.934Z,1629053179.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:20.334Z,1629053180.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,004A7,184,80,80,74,FF
2021-08-15T18:46:20.334Z,1629053180.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:20.334Z,1629053180.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:20.337Z,1629053180.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:20.748Z,1629053180.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:21.149Z,1629053181.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,004A7,183,80,80,6E,FF
2021-08-15T18:46:21.150Z,1629053181.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:21.220Z,1629053181.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:21.577Z,1629053181.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184621.47*55

2021-08-15T18:46:21.610Z,1629053181.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 221.713937 deg, deltaT: 4.472047 s, approachRate: 0.000000 m/s, LOS rate: -0.474449 deg/s, posRepo size: 4
2021-08-15T18:46:24.024Z,1629053184.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:24.381Z,1629053184.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:24.381Z,1629053184.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:24.381Z,1629053184.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:24.382Z,1629053184.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:24.790Z,1629053184.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,004A7,183,80,80,6E,FF
2021-08-15T18:46:24.790Z,1629053184.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:24.790Z,1629053184.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:24.792Z,1629053184.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:25.185Z,1629053185.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:25.589Z,1629053185.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,004AD,187,80,80,94,FF
2021-08-15T18:46:25.590Z,1629053185.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:25.650Z,1629053185.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:26.001Z,1629053186.001 [Micromodem](INFO): Nmea in: $SNTTA,0.433328,0.433572,,,184625.93*51

2021-08-15T18:46:26.103Z,1629053186.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 225.962192 deg, deltaT: 4.429616 s, approachRate: 0.081271 m/s, LOS rate: 0.959057 deg/s, posRepo size: 4
2021-08-15T18:46:28.440Z,1629053188.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:28.830Z,1629053188.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:28.830Z,1629053188.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:28.831Z,1629053188.831 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:28.831Z,1629053188.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:29.225Z,1629053189.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,004AD,187,80,80,94,FF
2021-08-15T18:46:29.225Z,1629053189.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:29.225Z,1629053189.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:29.227Z,1629053189.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:29.648Z,1629053189.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:30.029Z,1629053190.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,004B4,186,80,80,5A,FF
2021-08-15T18:46:30.029Z,1629053190.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:30.161Z,1629053190.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:30.501Z,1629053190.501 [Micromodem](INFO): Nmea in: $SNTTA,0.061446,,,,184630.36*4C

2021-08-15T18:46:30.538Z,1629053190.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 228.782924 deg, deltaT: 4.511588 s, approachRate: 0.093094 m/s, LOS rate: 0.625219 deg/s, posRepo size: 4
2021-08-15T18:46:32.911Z,1629053192.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:33.261Z,1629053193.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:33.261Z,1629053193.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:33.261Z,1629053193.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:33.262Z,1629053193.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:33.679Z,1629053193.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,004B4,186,80,80,5A,FF
2021-08-15T18:46:33.679Z,1629053193.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:33.679Z,1629053193.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:33.682Z,1629053193.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:34.107Z,1629053194.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:34.482Z,1629053194.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,004B4,186,80,80,5A,FF
2021-08-15T18:46:34.483Z,1629053194.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:34.538Z,1629053194.538 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:34.917Z,1629053194.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184634.82*58

2021-08-15T18:46:34.951Z,1629053194.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 227.149156 deg, deltaT: 4.376743 s, approachRate: 0.000000 m/s, LOS rate: -0.373284 deg/s, posRepo size: 4
2021-08-15T18:46:37.343Z,1629053197.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:37.711Z,1629053197.711 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:37.712Z,1629053197.712 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:37.712Z,1629053197.712 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:37.713Z,1629053197.713 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:38.145Z,1629053198.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,004B4,186,80,80,5A,FF
2021-08-15T18:46:38.145Z,1629053198.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:38.146Z,1629053198.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:38.147Z,1629053198.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:38.530Z,1629053198.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:38.926Z,1629053198.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,004BB,186,80,80,7E,FF
2021-08-15T18:46:38.926Z,1629053198.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:38.950Z,1629053198.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:39.349Z,1629053199.349 [Micromodem](INFO): Nmea in: $SNTTA,0.035289,,,,184639.28*4E

2021-08-15T18:46:39.411Z,1629053199.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 230.585602 deg, deltaT: 4.411664 s, approachRate: 0.095201 m/s, LOS rate: 0.778946 deg/s, posRepo size: 4
2021-08-15T18:46:41.836Z,1629053201.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:42.161Z,1629053202.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:42.161Z,1629053202.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:42.161Z,1629053202.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:42.162Z,1629053202.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:42.557Z,1629053202.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,004BB,186,80,80,7E,FF
2021-08-15T18:46:42.557Z,1629053202.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:42.557Z,1629053202.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:42.559Z,1629053202.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:42.969Z,1629053202.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:43.373Z,1629053203.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,004BF,186,80,80,66,FF
2021-08-15T18:46:43.374Z,1629053203.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:43.441Z,1629053203.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:43.821Z,1629053203.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184643.70*55

2021-08-15T18:46:43.869Z,1629053203.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 225.665106 deg, deltaT: 4.491344 s, approachRate: 0.053436 m/s, LOS rate: -1.095551 deg/s, posRepo size: 4
2021-08-15T18:46:46.225Z,1629053206.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:46.606Z,1629053206.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:46.606Z,1629053206.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:46.606Z,1629053206.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:46.607Z,1629053206.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:47.001Z,1629053207.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,004BF,186,80,80,66,FF
2021-08-15T18:46:47.001Z,1629053207.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:47.002Z,1629053207.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:47.003Z,1629053207.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:47.412Z,1629053207.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:47.851Z,1629053207.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,004C7,186,80,80,6B,FF
2021-08-15T18:46:47.869Z,1629053207.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:47.875Z,1629053207.875 [Micromodem](INFO): Nmea in: $SNTTA,0.328295,0.328533,,,184648.14*57

2021-08-15T18:46:48.012Z,1629053208.012 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:48.233Z,1629053208.233 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,184648,COPROC
 expected 41
2021-08-15T18:46:48.258Z,1629053208.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 230.407307 deg, deltaT: 4.571135 s, approachRate: 0.105007 m/s, LOS rate: 1.037423 deg/s, posRepo size: 4
2021-08-15T18:46:50.662Z,1629053210.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:51.044Z,1629053211.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:51.045Z,1629053211.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:51.045Z,1629053211.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:51.046Z,1629053211.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:51.449Z,1629053211.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,004C7,186,80,80,6B,FF
2021-08-15T18:46:51.449Z,1629053211.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:51.449Z,1629053211.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:51.451Z,1629053211.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:51.866Z,1629053211.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:52.253Z,1629053212.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,004CA,186,80,80,93,FF
2021-08-15T18:46:52.253Z,1629053212.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:52.320Z,1629053212.320 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:52.690Z,1629053212.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184652.59*5E

2021-08-15T18:46:52.711Z,1629053212.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 229.955121 deg, deltaT: 4.308128 s, approachRate: 0.041782 m/s, LOS rate: -0.104961 deg/s, posRepo size: 4
2021-08-15T18:46:55.144Z,1629053215.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:55.500Z,1629053215.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:55.501Z,1629053215.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:55.501Z,1629053215.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:55.502Z,1629053215.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:46:55.883Z,1629053215.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,004CA,186,80,80,93,FF
2021-08-15T18:46:55.883Z,1629053215.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:46:55.883Z,1629053215.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:46:55.885Z,1629053215.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:46:56.296Z,1629053216.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:46:56.697Z,1629053216.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,004D5,185,80,80,86,FF
2021-08-15T18:46:56.697Z,1629053216.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:46:56.716Z,1629053216.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:46:57.146Z,1629053217.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184657.02*55

2021-08-15T18:46:57.172Z,1629053217.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 223.723311 deg, deltaT: 4.395695 s, approachRate: 0.150146 m/s, LOS rate: -1.417708 deg/s, posRepo size: 4
2021-08-15T18:46:59.558Z,1629053219.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:46:59.933Z,1629053219.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:46:59.933Z,1629053219.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:46:59.933Z,1629053219.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:46:59.934Z,1629053219.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:00.338Z,1629053220.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,004D5,185,80,80,86,FF
2021-08-15T18:47:00.338Z,1629053220.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:00.338Z,1629053220.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:00.341Z,1629053220.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:00.745Z,1629053220.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:01.145Z,1629053221.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,004DB,186,80,80,7A,FF
2021-08-15T18:47:01.145Z,1629053221.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:01.229Z,1629053221.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:47:01.573Z,1629053221.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184701.47*56

2021-08-15T18:47:01.596Z,1629053221.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 228.365845 deg, deltaT: 4.513005 s, approachRate: 0.079770 m/s, LOS rate: 1.028701 deg/s, posRepo size: 4
2021-08-15T18:47:04.028Z,1629053224.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:04.381Z,1629053224.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:04.381Z,1629053224.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:04.381Z,1629053224.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:04.382Z,1629053224.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:04.777Z,1629053224.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,004DB,186,80,80,7A,FF
2021-08-15T18:47:04.777Z,1629053224.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:04.777Z,1629053224.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:04.779Z,1629053224.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:05.185Z,1629053225.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:05.589Z,1629053225.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,004E2,186,80,80,4E,FF
2021-08-15T18:47:05.590Z,1629053225.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:05.609Z,1629053225.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:47:06.037Z,1629053226.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184705.91*59

2021-08-15T18:47:06.126Z,1629053226.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 228.440212 deg, deltaT: 4.379696 s, approachRate: 0.095897 m/s, LOS rate: 0.016980 deg/s, posRepo size: 4
2021-08-15T18:47:08.451Z,1629053228.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:08.821Z,1629053228.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:08.821Z,1629053228.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:08.822Z,1629053228.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:08.823Z,1629053228.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:09.221Z,1629053229.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,004E2,186,80,80,4E,FF
2021-08-15T18:47:09.221Z,1629053229.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:09.221Z,1629053229.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:09.223Z,1629053229.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:09.642Z,1629053229.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:11.287Z,1629053231.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:12.869Z,1629053232.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,08D73,186,80,80,5E,FF
2021-08-15T18:47:12.869Z,1629053232.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:12.917Z,1629053232.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:47:13.305Z,1629053233.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2135.159912 m, bearing: 230.715430 deg, deltaT: 7.307820 s, approachRate: 287.043182 m/s, LOS rate: 0.311340 deg/s, posRepo size: 4
2021-08-15T18:47:13.306Z,1629053233.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2135.16 m. Resuming terminal guidance.
2021-08-15T18:47:13.306Z,1629053233.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T18:47:13.705Z,1629053233.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:47:13.705Z,1629053233.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:13.706Z,1629053233.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:47:13.706Z,1629053233.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:47:13.706Z,1629053233.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:47:13.706Z,1629053233.706 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:47:13.709Z,1629053233.709 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T18:47:13.709Z,1629053233.709 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:47:13.710Z,1629053233.710 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T18:47:13.710Z,1629053233.710 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T18:47:13.710Z,1629053233.710 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T18:47:13.710Z,1629053233.710 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T18:47:13.710Z,1629053233.710 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T18:47:14.169Z,1629053234.169 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:47:14.170Z,1629053234.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:14.170Z,1629053234.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:47:14.170Z,1629053234.170 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:15.723Z,1629053235.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:16.173Z,1629053236.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:16.173Z,1629053236.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:16.173Z,1629053236.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:16.174Z,1629053236.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:16.207Z,1629053236.207 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:47:16.565Z,1629053236.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,08D73,186,80,80,5E,FF
2021-08-15T18:47:16.565Z,1629053236.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:16.565Z,1629053236.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:16.567Z,1629053236.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:16.969Z,1629053236.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:17.385Z,1629053237.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,004EE,187,80,80,35,FF
2021-08-15T18:47:17.386Z,1629053237.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:17.847Z,1629053237.847 [Micromodem](INFO): Nmea in: $SNTTA,,0.033744,,,184717.70*4C

2021-08-15T18:47:17.900Z,1629053237.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.220001 m, bearing: 234.001106 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T18:47:17.900Z,1629053237.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m.
2021-08-15T18:47:17.901Z,1629053237.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 234.001106deg and heading rate command to 0 deg/s.
2021-08-15T18:47:18.222Z,1629053238.222 [PowerOnly](INFO): Powering up loadControl
2021-08-15T18:47:18.269Z,1629053238.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:47:18.269Z,1629053238.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:47:18.269Z,1629053238.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:47:18.270Z,1629053238.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:47:18.270Z,1629053238.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:47:18.270Z,1629053238.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:47:18.637Z,1629053238.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:47:18.638Z,1629053238.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:47:18.638Z,1629053238.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:47:18.638Z,1629053238.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:47:20.250Z,1629053240.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:20.617Z,1629053240.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:20.617Z,1629053240.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:20.617Z,1629053240.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:20.618Z,1629053240.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:21.029Z,1629053241.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,004EE,187,80,80,35,FF
2021-08-15T18:47:21.029Z,1629053241.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:21.029Z,1629053241.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:21.031Z,1629053241.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:21.440Z,1629053241.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:22.278Z,1629053242.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184722.17*52

2021-08-15T18:47:23.133Z,1629053243.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:24.693Z,1629053244.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:24.693Z,1629053244.693 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:24.693Z,1629053244.693 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:47:25.974Z,1629053245.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:26.309Z,1629053246.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:26.309Z,1629053246.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:26.309Z,1629053246.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:26.310Z,1629053246.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:26.713Z,1629053246.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:26.713Z,1629053246.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:26.713Z,1629053246.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:26.715Z,1629053246.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:27.150Z,1629053247.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:27.954Z,1629053247.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184727.85*5C

2021-08-15T18:47:28.769Z,1629053248.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:30.350Z,1629053250.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:30.351Z,1629053250.351 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:30.351Z,1629053250.351 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:47:31.588Z,1629053251.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:31.969Z,1629053251.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:31.969Z,1629053251.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:31.969Z,1629053251.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:31.970Z,1629053251.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:32.377Z,1629053252.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,35,FF
2021-08-15T18:47:32.377Z,1629053252.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:32.377Z,1629053252.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:32.379Z,1629053252.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:32.776Z,1629053252.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:33.177Z,1629053253.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00559,186,80,80,76,FF
2021-08-15T18:47:33.177Z,1629053253.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:33.208Z,1629053253.208 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:47:33.617Z,1629053253.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184733.51*50

2021-08-15T18:47:33.654Z,1629053253.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 245.584397 deg, deltaT: 15.765443 s, approachRate: 0.407220 m/s, LOS rate: 0.734727 deg/s, posRepo size: 2
2021-08-15T18:47:34.040Z,1629053254.040 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:47:34.040Z,1629053254.040 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:34.041Z,1629053254.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:47:34.041Z,1629053254.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:47:34.041Z,1629053254.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:47:34.041Z,1629053254.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:47:34.442Z,1629053254.442 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:47:34.442Z,1629053254.442 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:34.442Z,1629053254.442 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:47:34.442Z,1629053254.442 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:47:36.109Z,1629053256.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:36.405Z,1629053256.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:36.405Z,1629053256.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:36.405Z,1629053256.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:36.406Z,1629053256.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:36.810Z,1629053256.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00559,186,80,80,76,FF
2021-08-15T18:47:36.810Z,1629053256.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:36.810Z,1629053256.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:36.812Z,1629053256.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:37.233Z,1629053257.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:37.621Z,1629053257.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF7,000,0058D,183,80,80,58,FF
2021-08-15T18:47:37.621Z,1629053257.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:38.065Z,1629053258.065 [Micromodem](INFO): Nmea in: $SNTTA,0.079592,,,,184737.95*42

2021-08-15T18:47:38.175Z,1629053258.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 243.935043 deg, deltaT: 4.467906 s, approachRate: 0.698312 m/s, LOS rate: -0.369156 deg/s, posRepo size: 3
2021-08-15T18:47:40.505Z,1629053260.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:40.853Z,1629053260.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:40.853Z,1629053260.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:40.853Z,1629053260.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:40.854Z,1629053260.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:41.257Z,1629053261.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF7,000,0058D,183,80,80,58,FF
2021-08-15T18:47:41.257Z,1629053261.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:41.257Z,1629053261.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:41.259Z,1629053261.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:41.673Z,1629053261.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:42.102Z,1629053262.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,005B7,186,80,80,6C,FF
2021-08-15T18:47:42.103Z,1629053262.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:42.506Z,1629053262.506 [Micromodem](INFO): Nmea in: $SNTTA,0.065773,,,,184742.39*46

2021-08-15T18:47:42.524Z,1629053262.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 262.717516 deg, deltaT: 4.519914 s, approachRate: 0.557534 m/s, LOS rate: 4.155493 deg/s, posRepo size: 4
2021-08-15T18:47:44.920Z,1629053264.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:45.305Z,1629053265.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:45.305Z,1629053265.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:45.305Z,1629053265.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:45.306Z,1629053265.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:45.701Z,1629053265.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,005B7,186,80,80,6C,FF
2021-08-15T18:47:45.701Z,1629053265.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:45.701Z,1629053265.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:45.703Z,1629053265.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:46.154Z,1629053266.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:46.509Z,1629053266.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,005E7,186,80,80,6A,FF
2021-08-15T18:47:46.510Z,1629053266.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:46.949Z,1629053266.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184746.84*5A

2021-08-15T18:47:46.992Z,1629053266.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.159996 m, bearing: 259.273161 deg, deltaT: 4.338885 s, approachRate: 0.663764 m/s, LOS rate: -0.793834 deg/s, posRepo size: 4
2021-08-15T18:47:49.390Z,1629053269.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:49.752Z,1629053269.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:49.753Z,1629053269.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:49.753Z,1629053269.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:49.755Z,1629053269.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:50.177Z,1629053270.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,005E7,186,80,80,6A,FF
2021-08-15T18:47:50.177Z,1629053270.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:50.177Z,1629053270.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:50.179Z,1629053270.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:50.564Z,1629053270.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:50.965Z,1629053270.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0060D,187,80,80,4D,FF
2021-08-15T18:47:50.966Z,1629053270.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:51.389Z,1629053271.389 [Micromodem](INFO): Nmea in: $SNTTA,0.049213,,,,184751.32*42

2021-08-15T18:47:51.433Z,1629053271.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 283.373675 deg, deltaT: 4.450879 s, approachRate: 0.512259 m/s, LOS rate: 5.414776 deg/s, posRepo size: 4
2021-08-15T18:47:53.857Z,1629053273.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:54.210Z,1629053274.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:54.210Z,1629053274.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:54.210Z,1629053274.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:54.211Z,1629053274.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:54.598Z,1629053274.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0060D,187,80,80,4D,FF
2021-08-15T18:47:54.598Z,1629053274.598 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:54.598Z,1629053274.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:54.600Z,1629053274.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:55.004Z,1629053275.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:55.401Z,1629053275.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00637,185,80,80,90,FF
2021-08-15T18:47:55.402Z,1629053275.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:55.893Z,1629053275.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184755.74*57

2021-08-15T18:47:56.103Z,1629053276.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 286.566488 deg, deltaT: 4.466349 s, approachRate: 0.564219 m/s, LOS rate: 0.714860 deg/s, posRepo size: 4
2021-08-15T18:47:57.964Z,1629053277.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:47:58.329Z,1629053278.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:47:58.330Z,1629053278.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:47:58.330Z,1629053278.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:47:58.331Z,1629053278.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:47:58.713Z,1629053278.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00637,185,80,80,90,FF
2021-08-15T18:47:58.713Z,1629053278.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:47:58.713Z,1629053278.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:47:58.715Z,1629053278.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:47:59.140Z,1629053279.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:47:59.521Z,1629053279.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D4,000,0065B,187,80,80,49,FF
2021-08-15T18:47:59.522Z,1629053279.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:47:59.969Z,1629053279.969 [Micromodem](INFO): Nmea in: $SNTTA,0.052741,,,,184759.87*4C

2021-08-15T18:48:00.029Z,1629053280.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.120007 m, bearing: 259.099674 deg, deltaT: 4.129873 s, approachRate: 0.523020 m/s, LOS rate: -6.650765 deg/s, posRepo size: 4
2021-08-15T18:48:02.421Z,1629053282.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:02.757Z,1629053282.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:02.757Z,1629053282.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:02.757Z,1629053282.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:02.758Z,1629053282.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:03.173Z,1629053283.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D4,000,0065B,187,80,80,49,FF
2021-08-15T18:48:03.173Z,1629053283.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:03.174Z,1629053283.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:03.175Z,1629053283.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:03.572Z,1629053283.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:03.989Z,1629053283.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00680,187,80,80,70,FF
2021-08-15T18:48:03.989Z,1629053283.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:04.421Z,1629053284.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184804.31*5D

2021-08-15T18:48:04.447Z,1629053284.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 318.871398 deg, deltaT: 4.532090 s, approachRate: 0.489840 m/s, LOS rate: 13.188556 deg/s, posRepo size: 4
2021-08-15T18:48:04.448Z,1629053284.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.188556 deg/s. Setting heading cmd to target bearing of 318.871398deg and heading rate command to 0 deg/s.
2021-08-15T18:48:06.843Z,1629053286.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:07.213Z,1629053287.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:07.213Z,1629053287.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:07.214Z,1629053287.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:07.214Z,1629053287.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:07.605Z,1629053287.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00680,187,80,80,70,FF
2021-08-15T18:48:07.606Z,1629053287.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:07.606Z,1629053287.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:07.607Z,1629053287.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:08.019Z,1629053288.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:08.409Z,1629053288.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,0069C,186,80,80,79,FF
2021-08-15T18:48:08.409Z,1629053288.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:08.850Z,1629053288.850 [Micromodem](INFO): Nmea in: $SNTTA,0.059889,,,,184808.74*4B

2021-08-15T18:48:08.891Z,1629053288.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.020004 m, bearing: 274.077924 deg, deltaT: 4.315519 s, approachRate: 0.389293 m/s, LOS rate: -10.379626 deg/s, posRepo size: 4
2021-08-15T18:48:11.316Z,1629053291.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:11.637Z,1629053291.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:11.637Z,1629053291.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:11.637Z,1629053291.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:11.638Z,1629053291.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:12.055Z,1629053292.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,0069C,186,80,80,79,FF
2021-08-15T18:48:12.055Z,1629053292.055 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:12.061Z,1629053292.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:12.082Z,1629053292.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:12.533Z,1629053292.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:12.935Z,1629053292.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,006C6,186,80,80,75,FF
2021-08-15T18:48:12.935Z,1629053292.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:13.362Z,1629053293.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184813.22*59

2021-08-15T18:48:13.396Z,1629053293.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 256.763859 deg, deltaT: 4.547427 s, approachRate: 0.554160 m/s, LOS rate: -3.807442 deg/s, posRepo size: 4
2021-08-15T18:48:15.840Z,1629053295.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:16.146Z,1629053296.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:16.146Z,1629053296.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:16.146Z,1629053296.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:16.147Z,1629053296.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:16.559Z,1629053296.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,006C6,186,80,80,75,FF
2021-08-15T18:48:16.560Z,1629053296.560 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:16.560Z,1629053296.560 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:16.561Z,1629053296.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:16.955Z,1629053296.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:17.361Z,1629053297.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,006E3,186,80,80,91,FF
2021-08-15T18:48:17.362Z,1629053297.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:17.821Z,1629053297.821 [Micromodem](INFO): Nmea in: $SNTTA,0.055241,,,,184817.70*43

2021-08-15T18:48:17.866Z,1629053297.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.279999 m, bearing: 314.650067 deg, deltaT: 4.430061 s, approachRate: 0.392769 m/s, LOS rate: 13.066685 deg/s, posRepo size: 4
2021-08-15T18:48:17.867Z,1629053297.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.066685 deg/s. Setting heading cmd to target bearing of 314.650067deg and heading rate command to 0 deg/s.
2021-08-15T18:48:20.261Z,1629053300.261 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:20.605Z,1629053300.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:20.606Z,1629053300.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:20.606Z,1629053300.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:20.607Z,1629053300.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:20.993Z,1629053300.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,006E3,186,80,80,91,FF
2021-08-15T18:48:20.993Z,1629053300.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:20.993Z,1629053300.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:20.995Z,1629053300.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:21.409Z,1629053301.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:21.846Z,1629053301.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,0070C,18A,80,80,5A,FF
2021-08-15T18:48:21.846Z,1629053301.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:22.261Z,1629053302.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184822.13*59

2021-08-15T18:48:22.283Z,1629053302.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 316.114159 deg, deltaT: 4.532630 s, approachRate: 0.542731 m/s, LOS rate: 0.323012 deg/s, posRepo size: 4
2021-08-15T18:48:24.667Z,1629053304.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:25.033Z,1629053305.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:25.033Z,1629053305.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:25.033Z,1629053305.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:25.034Z,1629053305.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:25.445Z,1629053305.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,0070C,18A,80,80,5A,FF
2021-08-15T18:48:25.445Z,1629053305.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:25.445Z,1629053305.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:25.447Z,1629053305.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:25.867Z,1629053305.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:26.241Z,1629053306.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00730,186,80,80,89,FF
2021-08-15T18:48:26.242Z,1629053306.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:26.689Z,1629053306.689 [Micromodem](INFO): Nmea in: $SNTTA,0.055679,,,,184826.58*44

2021-08-15T18:48:26.743Z,1629053306.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.900002 m, bearing: 306.266147 deg, deltaT: 4.382485 s, approachRate: 0.492872 m/s, LOS rate: -2.247130 deg/s, posRepo size: 4
2021-08-15T18:48:29.134Z,1629053309.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:29.474Z,1629053309.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:29.474Z,1629053309.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:29.475Z,1629053309.475 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:29.476Z,1629053309.476 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:29.887Z,1629053309.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00730,186,80,80,89,FF
2021-08-15T18:48:29.887Z,1629053309.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:29.887Z,1629053309.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:29.889Z,1629053309.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:30.301Z,1629053310.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:30.693Z,1629053310.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00751,186,80,80,8F,FF
2021-08-15T18:48:30.693Z,1629053310.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:31.157Z,1629053311.157 [Micromodem](INFO): Nmea in: $SNTTA,0.055171,,,,184831.02*42

2021-08-15T18:48:31.183Z,1629053311.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 313.577291 deg, deltaT: 4.436076 s, approachRate: 0.446339 m/s, LOS rate: 1.648111 deg/s, posRepo size: 4
2021-08-15T18:48:33.539Z,1629053313.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:33.921Z,1629053313.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:33.921Z,1629053313.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:33.921Z,1629053313.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:33.922Z,1629053313.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:34.342Z,1629053314.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00751,186,80,80,8F,FF
2021-08-15T18:48:34.342Z,1629053314.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:34.342Z,1629053314.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:34.349Z,1629053314.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:34.741Z,1629053314.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:35.157Z,1629053315.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDC,000,0076D,189,80,80,84,FF
2021-08-15T18:48:35.158Z,1629053315.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:35.606Z,1629053315.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184835.48*51

2021-08-15T18:48:35.628Z,1629053315.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.560005 m, bearing: 338.328312 deg, deltaT: 4.461645 s, approachRate: 0.376545 m/s, LOS rate: 5.547510 deg/s, posRepo size: 4
2021-08-15T18:48:37.998Z,1629053317.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:38.385Z,1629053318.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:38.385Z,1629053318.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:38.385Z,1629053318.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:38.386Z,1629053318.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:38.769Z,1629053318.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDC,000,0076D,189,80,80,84,FF
2021-08-15T18:48:38.769Z,1629053318.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:38.769Z,1629053318.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:38.771Z,1629053318.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:39.193Z,1629053319.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:39.577Z,1629053319.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E1,000,0077B,186,80,80,6F,FF
2021-08-15T18:48:39.578Z,1629053319.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:40.025Z,1629053320.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184839.91*59

2021-08-15T18:48:40.133Z,1629053320.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.400002 m, bearing: 301.014360 deg, deltaT: 4.401356 s, approachRate: 0.190849 m/s, LOS rate: -8.477831 deg/s, posRepo size: 4
2021-08-15T18:48:42.479Z,1629053322.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:42.813Z,1629053322.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:42.813Z,1629053322.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:42.813Z,1629053322.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:42.814Z,1629053322.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:43.218Z,1629053323.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E1,000,0077B,186,80,80,6F,FF
2021-08-15T18:48:43.218Z,1629053323.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:43.218Z,1629053323.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:43.219Z,1629053323.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:43.621Z,1629053323.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:44.025Z,1629053324.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00785,186,80,80,9A,FF
2021-08-15T18:48:44.026Z,1629053324.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:44.473Z,1629053324.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184844.36*5E

2021-08-15T18:48:44.489Z,1629053324.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 1.534202 deg, deltaT: 4.535716 s, approachRate: 0.132283 m/s, LOS rate: 13.342951 deg/s, posRepo size: 4
2021-08-15T18:48:44.490Z,1629053324.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.342951 deg/s. Setting heading cmd to target bearing of 1.534202deg and heading rate command to 0 deg/s.
2021-08-15T18:48:46.882Z,1629053326.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:47.257Z,1629053327.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:47.257Z,1629053327.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:47.257Z,1629053327.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:47.258Z,1629053327.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:47.661Z,1629053327.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00785,186,80,80,9A,FF
2021-08-15T18:48:47.661Z,1629053327.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:47.662Z,1629053327.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:47.663Z,1629053327.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:48.080Z,1629053328.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:48.462Z,1629053328.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,0078B,185,80,80,86,FF
2021-08-15T18:48:48.462Z,1629053328.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:48.926Z,1629053328.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184848.80*5F

2021-08-15T18:48:48.943Z,1629053328.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.360001 m, bearing: 357.857161 deg, deltaT: 4.333817 s, approachRate: 0.083068 m/s, LOS rate: -0.848452 deg/s, posRepo size: 4
2021-08-15T18:48:51.366Z,1629053331.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:51.701Z,1629053331.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:51.701Z,1629053331.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:51.701Z,1629053331.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:51.702Z,1629053331.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:52.145Z,1629053332.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,0078B,185,80,80,86,FF
2021-08-15T18:48:52.145Z,1629053332.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:52.145Z,1629053332.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:52.147Z,1629053332.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:52.513Z,1629053332.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:52.926Z,1629053332.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDC,000,00796,18A,80,80,71,FF
2021-08-15T18:48:52.926Z,1629053332.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:53.327Z,1629053333.327 [Micromodem](INFO): Nmea in: $SNTTA,0.064001,,,,184853.28*4A

2021-08-15T18:48:53.400Z,1629053333.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 9.594216 deg, deltaT: 4.455742 s, approachRate: 0.148124 m/s, LOS rate: 2.634145 deg/s, posRepo size: 4
2021-08-15T18:48:55.822Z,1629053335.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:48:56.158Z,1629053336.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:48:56.158Z,1629053336.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:48:56.158Z,1629053336.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:48:56.159Z,1629053336.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:48:56.546Z,1629053336.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDC,000,00796,18A,80,80,71,FF
2021-08-15T18:48:56.546Z,1629053336.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:48:56.546Z,1629053336.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:48:56.548Z,1629053336.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:48:56.965Z,1629053336.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:48:57.356Z,1629053337.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,007A1,186,80,80,90,FF
2021-08-15T18:48:57.356Z,1629053337.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:48:57.817Z,1629053337.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184857.68*57

2021-08-15T18:48:57.879Z,1629053337.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.680000 m, bearing: 9.105256 deg, deltaT: 4.488928 s, approachRate: 0.147028 m/s, LOS rate: -0.108926 deg/s, posRepo size: 4
2021-08-15T18:49:00.227Z,1629053340.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:00.593Z,1629053340.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:00.593Z,1629053340.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:00.593Z,1629053340.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:00.594Z,1629053340.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:00.992Z,1629053340.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,007A1,186,80,80,90,FF
2021-08-15T18:49:00.992Z,1629053340.992 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:00.993Z,1629053340.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:00.994Z,1629053340.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:01.420Z,1629053341.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:01.849Z,1629053341.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0079B,189,80,80,9C,FF
2021-08-15T18:49:01.850Z,1629053341.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:02.244Z,1629053342.244 [Micromodem](INFO): Nmea in: $SNTTA,0.421095,,,,184902.13*4F

2021-08-15T18:49:02.270Z,1629053342.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 67.367276 deg, deltaT: 4.476307 s, approachRate: -0.080422 m/s, LOS rate: 13.015644 deg/s, posRepo size: 4
2021-08-15T18:49:02.271Z,1629053342.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.015644 deg/s. Setting heading cmd to target bearing of 67.367276deg and heading rate command to 0 deg/s.
2021-08-15T18:49:04.656Z,1629053344.656 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:05.043Z,1629053345.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:05.043Z,1629053345.043 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:05.061Z,1629053345.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:05.062Z,1629053345.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:05.441Z,1629053345.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0079B,189,80,80,9C,FF
2021-08-15T18:49:05.441Z,1629053345.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:05.441Z,1629053345.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:05.443Z,1629053345.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:05.865Z,1629053345.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:06.241Z,1629053346.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD9,000,0078A,18A,80,80,7D,FF
2021-08-15T18:49:06.242Z,1629053346.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:06.697Z,1629053346.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184906.58*51

2021-08-15T18:49:06.719Z,1629053346.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 70.788040 deg, deltaT: 4.400794 s, approachRate: -0.231777 m/s, LOS rate: 0.777306 deg/s, posRepo size: 4
2021-08-15T18:49:09.154Z,1629053349.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:09.473Z,1629053349.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:09.473Z,1629053349.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:09.473Z,1629053349.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:09.474Z,1629053349.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:09.884Z,1629053349.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD9,000,0078A,18A,80,80,7D,FF
2021-08-15T18:49:09.884Z,1629053349.884 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:09.885Z,1629053349.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:09.886Z,1629053349.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:10.303Z,1629053350.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:10.693Z,1629053350.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,0076E,189,80,80,B4,FF
2021-08-15T18:49:10.693Z,1629053350.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:11.153Z,1629053351.153 [Micromodem](INFO): Nmea in: $SNTTA,0.071311,,,,184911.03*42

2021-08-15T18:49:11.208Z,1629053351.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 68.646768 deg, deltaT: 4.431422 s, approachRate: -0.379111 m/s, LOS rate: -0.483202 deg/s, posRepo size: 4
2021-08-15T18:49:13.554Z,1629053353.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:13.921Z,1629053353.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:13.921Z,1629053353.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:13.922Z,1629053353.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:13.923Z,1629053353.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:14.321Z,1629053354.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,0076E,189,80,80,B4,FF
2021-08-15T18:49:14.322Z,1629053354.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:14.322Z,1629053354.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:14.325Z,1629053354.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:14.731Z,1629053354.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:15.142Z,1629053355.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,0074B,189,80,80,9A,FF
2021-08-15T18:49:15.142Z,1629053355.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:15.587Z,1629053355.587 [Micromodem](INFO): Nmea in: $SNTTA,0.057099,,,,184915.46*40

2021-08-15T18:49:15.621Z,1629053355.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.520004 m, bearing: 80.194774 deg, deltaT: 4.477412 s, approachRate: -0.469021 m/s, LOS rate: 2.579170 deg/s, posRepo size: 4
2021-08-15T18:49:18.094Z,1629053358.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:18.365Z,1629053358.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:18.365Z,1629053358.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:18.365Z,1629053358.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:18.366Z,1629053358.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:18.770Z,1629053358.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,0074B,189,80,80,9A,FF
2021-08-15T18:49:18.771Z,1629053358.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:18.771Z,1629053358.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:18.773Z,1629053358.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:19.181Z,1629053359.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:19.584Z,1629053359.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00722,187,80,80,8D,FF
2021-08-15T18:49:19.585Z,1629053359.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:19.993Z,1629053359.993 [Micromodem](INFO): Nmea in: $SNTTA,0.400724,0.402293,,,184919.91*51

2021-08-15T18:49:20.053Z,1629053360.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 74.758961 deg, deltaT: 4.442483 s, approachRate: -0.553744 m/s, LOS rate: -1.223598 deg/s, posRepo size: 4
2021-08-15T18:49:22.444Z,1629053362.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:22.805Z,1629053362.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:22.805Z,1629053362.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:22.805Z,1629053362.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:22.806Z,1629053362.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:23.222Z,1629053363.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00722,187,80,80,8D,FF
2021-08-15T18:49:23.222Z,1629053363.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:23.222Z,1629053363.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:23.223Z,1629053363.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:23.616Z,1629053363.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:24.021Z,1629053364.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,006F2,185,80,80,6E,FF
2021-08-15T18:49:24.021Z,1629053364.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:24.025Z,1629053364.025 [Micromodem](INFO): Nmea in: $SNTTA,0.061056,0.210412,,,184924.37*58

2021-08-15T18:49:24.497Z,1629053364.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.180008 m, bearing: 71.451353 deg, deltaT: 4.470759 s, approachRate: -0.644185 m/s, LOS rate: -0.739831 deg/s, posRepo size: 4
2021-08-15T18:49:26.896Z,1629053366.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:27.257Z,1629053367.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:27.257Z,1629053367.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:27.257Z,1629053367.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:27.258Z,1629053367.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:27.657Z,1629053367.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,006F2,185,80,80,6E,FF
2021-08-15T18:49:27.657Z,1629053367.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:27.657Z,1629053367.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:27.659Z,1629053367.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:28.103Z,1629053368.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:28.461Z,1629053368.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,006CB,186,80,80,86,FF
2021-08-15T18:49:28.461Z,1629053368.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:28.913Z,1629053368.913 [Micromodem](INFO): Nmea in: $SNTTA,0.081892,,,,184928.80*4C

2021-08-15T18:49:28.929Z,1629053368.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.840004 m, bearing: 72.992613 deg, deltaT: 4.346862 s, approachRate: -0.538320 m/s, LOS rate: 0.354568 deg/s, posRepo size: 4
2021-08-15T18:49:31.351Z,1629053371.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:31.693Z,1629053371.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:31.693Z,1629053371.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:31.693Z,1629053371.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:31.694Z,1629053371.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:32.109Z,1629053372.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,006CB,186,80,80,86,FF
2021-08-15T18:49:32.109Z,1629053372.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:32.109Z,1629053372.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:32.111Z,1629053372.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:32.505Z,1629053372.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:32.909Z,1629053372.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00691,186,80,80,85,FF
2021-08-15T18:49:32.910Z,1629053372.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:33.342Z,1629053373.342 [Micromodem](INFO): Nmea in: $SNTTA,0.052310,,,,184933.25*46

2021-08-15T18:49:33.389Z,1629053373.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 71.586946 deg, deltaT: 4.447727 s, approachRate: -0.782423 m/s, LOS rate: -0.316042 deg/s, posRepo size: 4
2021-08-15T18:49:35.827Z,1629053375.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:36.145Z,1629053376.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:36.145Z,1629053376.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:36.145Z,1629053376.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:36.146Z,1629053376.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:36.181Z,1629053376.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:49:36.549Z,1629053376.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00691,186,80,80,85,FF
2021-08-15T18:49:36.549Z,1629053376.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:36.549Z,1629053376.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:36.551Z,1629053376.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:36.948Z,1629053376.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:37.355Z,1629053377.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05F,000,0065D,186,80,80,84,FF
2021-08-15T18:49:37.355Z,1629053377.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:37.816Z,1629053377.816 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184937.69*51

2021-08-15T18:49:37.881Z,1629053377.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 72.567078 deg, deltaT: 4.489084 s, approachRate: -0.695019 m/s, LOS rate: 0.218337 deg/s, posRepo size: 4
2021-08-15T18:49:40.219Z,1629053380.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:40.584Z,1629053380.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:40.584Z,1629053380.584 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:40.585Z,1629053380.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:40.592Z,1629053380.592 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:40.993Z,1629053380.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05F,000,0065D,186,80,80,84,FF
2021-08-15T18:49:40.993Z,1629053380.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:40.994Z,1629053380.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:40.995Z,1629053380.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:41.397Z,1629053381.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:41.841Z,1629053381.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0062F,187,80,80,93,FF
2021-08-15T18:49:41.841Z,1629053381.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:42.229Z,1629053382.229 [Micromodem](INFO): Nmea in: $SNTTA,,0.057437,,,184942.13*42

2021-08-15T18:49:42.279Z,1629053382.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 71.449263 deg, deltaT: 4.482194 s, approachRate: -0.615769 m/s, LOS rate: -0.249390 deg/s, posRepo size: 4
2021-08-15T18:49:44.643Z,1629053384.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:45.025Z,1629053385.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:45.025Z,1629053385.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:45.025Z,1629053385.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:45.026Z,1629053385.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:45.438Z,1629053385.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0062F,187,80,80,93,FF
2021-08-15T18:49:45.438Z,1629053385.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:45.438Z,1629053385.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:45.440Z,1629053385.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:45.871Z,1629053385.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:46.237Z,1629053386.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,005FD,186,80,80,94,FF
2021-08-15T18:49:46.237Z,1629053386.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:46.697Z,1629053386.697 [Micromodem](INFO): Nmea in: $SNTTA,0.064512,,,,184946.58*4F

2021-08-15T18:49:46.717Z,1629053386.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 71.067387 deg, deltaT: 4.367222 s, approachRate: -0.686937 m/s, LOS rate: -0.087441 deg/s, posRepo size: 4
2021-08-15T18:49:49.126Z,1629053389.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:49.477Z,1629053389.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:49.477Z,1629053389.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:49.477Z,1629053389.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:49.478Z,1629053389.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:49.877Z,1629053389.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,005FD,186,80,80,94,FF
2021-08-15T18:49:49.877Z,1629053389.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:49.878Z,1629053389.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:49.879Z,1629053389.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:50.280Z,1629053390.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:50.689Z,1629053390.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,005D9,184,80,80,84,FF
2021-08-15T18:49:50.689Z,1629053390.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:51.133Z,1629053391.133 [Micromodem](INFO): Nmea in: $SNTTA,0.040701,,,,184951.02*40

2021-08-15T18:49:51.183Z,1629053391.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 72.509179 deg, deltaT: 4.441088 s, approachRate: -0.486368 m/s, LOS rate: 0.324648 deg/s, posRepo size: 4
2021-08-15T18:49:53.527Z,1629053393.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:53.913Z,1629053393.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:53.913Z,1629053393.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:53.914Z,1629053393.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:53.915Z,1629053393.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:54.322Z,1629053394.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,005D9,184,80,80,84,FF
2021-08-15T18:49:54.322Z,1629053394.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:54.323Z,1629053394.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:54.325Z,1629053394.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:54.741Z,1629053394.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:55.138Z,1629053395.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,0059E,186,80,80,71,FF
2021-08-15T18:49:55.138Z,1629053395.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:49:55.597Z,1629053395.597 [Micromodem](INFO): Nmea in: $SNTTA,0.046625,,,,184955.46*45

2021-08-15T18:49:55.651Z,1629053395.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 70.172120 deg, deltaT: 4.503539 s, approachRate: -0.786049 m/s, LOS rate: -0.518938 deg/s, posRepo size: 4
2021-08-15T18:49:58.021Z,1629053398.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:49:58.361Z,1629053398.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:49:58.361Z,1629053398.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:49:58.361Z,1629053398.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:49:58.362Z,1629053398.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:49:58.777Z,1629053398.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,0059E,186,80,80,71,FF
2021-08-15T18:49:58.777Z,1629053398.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:49:58.777Z,1629053398.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:49:58.779Z,1629053398.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:49:59.181Z,1629053399.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:49:59.569Z,1629053399.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00570,186,80,80,66,FF
2021-08-15T18:49:59.570Z,1629053399.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:00.005Z,1629053400.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,184959.92*5D

2021-08-15T18:50:00.046Z,1629053400.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 69.841020 deg, deltaT: 4.404958 s, approachRate: -0.626566 m/s, LOS rate: -0.075165 deg/s, posRepo size: 4
2021-08-15T18:50:02.434Z,1629053402.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:02.813Z,1629053402.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:02.813Z,1629053402.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:02.813Z,1629053402.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:02.814Z,1629053402.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:03.209Z,1629053403.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00570,186,80,80,66,FF
2021-08-15T18:50:03.209Z,1629053403.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:03.209Z,1629053403.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:03.211Z,1629053403.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:03.624Z,1629053403.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:04.025Z,1629053404.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00542,186,80,80,6C,FF
2021-08-15T18:50:04.025Z,1629053404.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:04.453Z,1629053404.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185004.35*50

2021-08-15T18:50:04.499Z,1629053404.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 68.453904 deg, deltaT: 4.501105 s, approachRate: -0.613182 m/s, LOS rate: -0.308172 deg/s, posRepo size: 4
2021-08-15T18:50:06.903Z,1629053406.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:07.257Z,1629053407.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:07.257Z,1629053407.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:07.257Z,1629053407.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:07.258Z,1629053407.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:07.673Z,1629053407.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00542,186,80,80,6C,FF
2021-08-15T18:50:07.674Z,1629053407.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:07.674Z,1629053407.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:07.675Z,1629053407.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:08.116Z,1629053408.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:08.493Z,1629053408.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,00513,186,80,80,63,FF
2021-08-15T18:50:08.493Z,1629053408.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:08.933Z,1629053408.933 [Micromodem](INFO): Nmea in: $SNTTA,0.137581,,,,185008.81*44

2021-08-15T18:50:08.956Z,1629053408.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 68.166832 deg, deltaT: 4.395292 s, approachRate: -0.641596 m/s, LOS rate: -0.065314 deg/s, posRepo size: 4
2021-08-15T18:50:11.367Z,1629053411.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:11.748Z,1629053411.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:11.749Z,1629053411.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:11.750Z,1629053411.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:11.751Z,1629053411.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:12.141Z,1629053412.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,00513,186,80,80,63,FF
2021-08-15T18:50:12.141Z,1629053412.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:12.141Z,1629053412.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:12.143Z,1629053412.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:12.541Z,1629053412.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:12.933Z,1629053412.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,004E7,186,80,80,A1,FF
2021-08-15T18:50:12.933Z,1629053412.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:13.377Z,1629053413.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185013.28*5A

2021-08-15T18:50:13.403Z,1629053413.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 67.290115 deg, deltaT: 4.468055 s, approachRate: -0.590861 m/s, LOS rate: -0.196219 deg/s, posRepo size: 4
2021-08-15T18:50:13.404Z,1629053413.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m.
2021-08-15T18:50:13.405Z,1629053413.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.80 m.
2021-08-15T18:50:13.405Z,1629053413.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T18:50:13.821Z,1629053413.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:50:13.821Z,1629053413.821 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:13.822Z,1629053413.822 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:50:13.824Z,1629053413.824 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:50:13.824Z,1629053413.824 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:50:13.824Z,1629053413.824 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:50:14.225Z,1629053414.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:50:14.225Z,1629053414.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:14.225Z,1629053414.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:50:14.225Z,1629053414.225 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:15.880Z,1629053415.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:16.161Z,1629053416.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:16.162Z,1629053416.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:16.162Z,1629053416.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:16.163Z,1629053416.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:16.574Z,1629053416.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,004E7,186,80,80,A1,FF
2021-08-15T18:50:16.574Z,1629053416.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:16.574Z,1629053416.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:16.577Z,1629053416.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:16.983Z,1629053416.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:17.402Z,1629053417.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,004C1,185,80,80,76,FF
2021-08-15T18:50:17.403Z,1629053417.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:17.436Z,1629053417.436 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:17.866Z,1629053417.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185017.72*51

2021-08-15T18:50:17.902Z,1629053417.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 68.811390 deg, deltaT: 4.454167 s, approachRate: -0.511880 m/s, LOS rate: 0.341540 deg/s, posRepo size: 4
2021-08-15T18:50:20.241Z,1629053420.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:20.647Z,1629053420.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:20.647Z,1629053420.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:20.647Z,1629053420.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:20.652Z,1629053420.652 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:21.021Z,1629053421.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,004C1,185,80,80,76,FF
2021-08-15T18:50:21.021Z,1629053421.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:21.021Z,1629053421.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:21.023Z,1629053421.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:21.447Z,1629053421.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:21.861Z,1629053421.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0048B,186,80,80,82,FF
2021-08-15T18:50:21.861Z,1629053421.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:21.918Z,1629053421.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:22.286Z,1629053422.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185022.16*55

2021-08-15T18:50:22.314Z,1629053422.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.279999 m, bearing: 65.862360 deg, deltaT: 4.482254 s, approachRate: -0.722851 m/s, LOS rate: -0.657935 deg/s, posRepo size: 4
2021-08-15T18:50:24.697Z,1629053424.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:25.091Z,1629053425.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:25.092Z,1629053425.092 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:25.093Z,1629053425.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:25.094Z,1629053425.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:25.469Z,1629053425.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0048B,186,80,80,82,FF
2021-08-15T18:50:25.469Z,1629053425.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:25.469Z,1629053425.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:25.471Z,1629053425.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:25.872Z,1629053425.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:26.709Z,1629053426.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,01EDF,184,80,80,7E,FF
2021-08-15T18:50:26.709Z,1629053426.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:26.712Z,1629053426.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185026.61*51

2021-08-15T18:50:26.736Z,1629053426.736 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:27.157Z,1629053427.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 436.679993 m, bearing: 65.758862 deg, deltaT: 4.817853 s, approachRate: 83.937805 m/s, LOS rate: -0.021482 deg/s, posRepo size: 4
2021-08-15T18:50:27.513Z,1629053427.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T18:50:27.513Z,1629053427.513 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:50:27.514Z,1629053427.514 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T18:50:27.514Z,1629053427.514 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T18:50:27.515Z,1629053427.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T18:50:27.515Z,1629053427.515 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T18:50:27.978Z,1629053427.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T18:50:27.979Z,1629053427.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:50:27.979Z,1629053427.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T18:50:27.979Z,1629053427.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T18:50:29.547Z,1629053429.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:29.905Z,1629053429.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:29.905Z,1629053429.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:29.905Z,1629053429.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:29.906Z,1629053429.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:30.313Z,1629053430.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,01EDF,184,80,80,7E,FF
2021-08-15T18:50:30.313Z,1629053430.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:30.313Z,1629053430.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:30.315Z,1629053430.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:30.734Z,1629053430.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:31.133Z,1629053431.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,047,000,00432,184,80,80,46,FF
2021-08-15T18:50:31.134Z,1629053431.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:31.562Z,1629053431.562 [Micromodem](INFO): Nmea in: $SNTTA,0.061919,,,,185031.46*4A

2021-08-15T18:50:31.578Z,1629053431.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 65.714964 deg, deltaT: 4.482170 s, approachRate: -91.415543 m/s, LOS rate: -0.009794 deg/s, posRepo size: 4
2021-08-15T18:50:31.988Z,1629053431.988 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T18:50:31.988Z,1629053431.988 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:31.989Z,1629053431.989 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T18:50:31.990Z,1629053431.990 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T18:50:31.990Z,1629053431.990 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T18:50:31.990Z,1629053431.990 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T18:50:32.387Z,1629053432.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T18:50:32.387Z,1629053432.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:32.387Z,1629053432.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T18:50:32.387Z,1629053432.387 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T18:50:33.995Z,1629053433.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:34.361Z,1629053434.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:34.361Z,1629053434.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:34.361Z,1629053434.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:34.362Z,1629053434.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:34.757Z,1629053434.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
047,000,00432,184,80,80,46,FF
2021-08-15T18:50:34.757Z,1629053434.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:34.758Z,1629053434.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:34.759Z,1629053434.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:35.177Z,1629053435.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:35.565Z,1629053435.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04D,000,00409,184,80,80,A7,FF
2021-08-15T18:50:35.566Z,1629053435.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:35.619Z,1629053435.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:36.005Z,1629053436.005 [Micromodem](INFO): Nmea in: $SNTTA,0.054278,,,,185035.90*4F

2021-08-15T18:50:36.100Z,1629053436.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 65.303732 deg, deltaT: 4.400438 s, approachRate: -0.559035 m/s, LOS rate: -0.093453 deg/s, posRepo size: 4
2021-08-15T18:50:38.441Z,1629053438.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:38.801Z,1629053438.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:38.801Z,1629053438.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:38.801Z,1629053438.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:38.802Z,1629053438.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:39.209Z,1629053439.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04D,000,00409,184,80,80,A7,FF
2021-08-15T18:50:39.209Z,1629053439.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:39.209Z,1629053439.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:39.211Z,1629053439.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:39.618Z,1629053439.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:40.009Z,1629053440.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,003DC,186,80,80,B0,FF
2021-08-15T18:50:40.010Z,1629053440.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:40.109Z,1629053440.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:40.453Z,1629053440.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 62.916813 deg, deltaT: 4.490032 s, approachRate: -0.601332 m/s, LOS rate: -0.531604 deg/s, posRepo size: 4
2021-08-15T18:50:42.859Z,1629053442.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:43.241Z,1629053443.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:43.241Z,1629053443.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:43.241Z,1629053443.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:43.242Z,1629053443.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:43.649Z,1629053443.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,003DC,186,80,80,B0,FF
2021-08-15T18:50:43.650Z,1629053443.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:43.650Z,1629053443.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:43.652Z,1629053443.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:44.053Z,1629053444.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:44.453Z,1629053444.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,003B0,187,80,80,5F,FF
2021-08-15T18:50:44.453Z,1629053444.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:44.473Z,1629053444.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:44.893Z,1629053444.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185044.79*5C

2021-08-15T18:50:44.930Z,1629053444.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 62.007510 deg, deltaT: 4.364657 s, approachRate: -0.604858 m/s, LOS rate: -0.208333 deg/s, posRepo size: 4
2021-08-15T18:50:47.323Z,1629053447.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:47.685Z,1629053447.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:47.685Z,1629053447.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:47.685Z,1629053447.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:47.686Z,1629053447.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:48.105Z,1629053448.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,003B0,187,80,80,5F,FF
2021-08-15T18:50:48.105Z,1629053448.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:48.105Z,1629053448.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:48.107Z,1629053448.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:48.500Z,1629053448.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:48.902Z,1629053448.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,00383,186,80,80,90,FF
2021-08-15T18:50:48.903Z,1629053448.903 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:48.923Z,1629053448.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:49.330Z,1629053449.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185049.25*58

2021-08-15T18:50:49.387Z,1629053449.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 60.824112 deg, deltaT: 4.449478 s, approachRate: -0.606813 m/s, LOS rate: -0.265963 deg/s, posRepo size: 4
2021-08-15T18:50:51.764Z,1629053451.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:52.145Z,1629053452.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:52.145Z,1629053452.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:52.145Z,1629053452.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:52.146Z,1629053452.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:52.537Z,1629053452.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,00383,186,80,80,90,FF
2021-08-15T18:50:52.537Z,1629053452.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:52.538Z,1629053452.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:52.539Z,1629053452.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:52.960Z,1629053452.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:53.346Z,1629053453.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,086,000,00357,186,80,80,C0,FF
2021-08-15T18:50:53.347Z,1629053453.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:53.414Z,1629053453.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:53.813Z,1629053453.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185053.68*5A

2021-08-15T18:50:53.873Z,1629053453.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 58.437227 deg, deltaT: 4.491413 s, approachRate: -0.587788 m/s, LOS rate: -0.531433 deg/s, posRepo size: 4
2021-08-15T18:50:56.222Z,1629053456.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:50:56.573Z,1629053456.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:50:56.573Z,1629053456.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:50:56.573Z,1629053456.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:50:56.574Z,1629053456.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:50:56.985Z,1629053456.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
086,000,00357,186,80,80,C0,FF
2021-08-15T18:50:56.985Z,1629053456.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:50:56.985Z,1629053456.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:50:56.987Z,1629053456.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:50:57.404Z,1629053457.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:50:57.821Z,1629053457.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00341,186,80,80,9D,FF
2021-08-15T18:50:57.822Z,1629053457.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:50:57.881Z,1629053457.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:50:58.229Z,1629053458.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185058.13*5D

2021-08-15T18:50:58.276Z,1629053458.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 54.052662 deg, deltaT: 4.466534 s, approachRate: -0.295532 m/s, LOS rate: -0.981648 deg/s, posRepo size: 4
2021-08-15T18:51:00.631Z,1629053460.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:01.021Z,1629053461.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:01.021Z,1629053461.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:01.022Z,1629053461.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:01.023Z,1629053461.023 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:01.433Z,1629053461.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00341,186,80,80,9D,FF
2021-08-15T18:51:01.433Z,1629053461.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:01.433Z,1629053461.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:01.435Z,1629053461.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:01.848Z,1629053461.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:02.233Z,1629053462.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00306,186,80,80,CB,FF
2021-08-15T18:51:02.233Z,1629053462.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:02.302Z,1629053462.302 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:02.657Z,1629053462.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185102.57*53

2021-08-15T18:51:02.680Z,1629053462.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 53.519658 deg, deltaT: 4.421167 s, approachRate: -0.800693 m/s, LOS rate: -0.120557 deg/s, posRepo size: 4
2021-08-15T18:51:05.121Z,1629053465.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:05.473Z,1629053465.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:05.473Z,1629053465.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:05.473Z,1629053465.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:05.474Z,1629053465.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:05.877Z,1629053465.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00306,186,80,80,CB,FF
2021-08-15T18:51:05.877Z,1629053465.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:05.877Z,1629053465.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:05.879Z,1629053465.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:06.292Z,1629053466.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:06.678Z,1629053466.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,002E5,186,80,80,AF,FF
2021-08-15T18:51:06.678Z,1629053466.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:06.703Z,1629053466.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:07.129Z,1629053467.129 [Micromodem](INFO): Nmea in: $SNTTA,0.038482,,,,185107.02*4D

2021-08-15T18:51:07.169Z,1629053467.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 50.754746 deg, deltaT: 4.401041 s, approachRate: -0.449893 m/s, LOS rate: -0.628240 deg/s, posRepo size: 4
2021-08-15T18:51:09.527Z,1629053469.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:09.905Z,1629053469.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:09.906Z,1629053469.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:09.906Z,1629053469.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:09.907Z,1629053469.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:10.326Z,1629053470.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,002E5,186,80,80,AF,FF
2021-08-15T18:51:10.326Z,1629053470.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:10.326Z,1629053470.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:10.330Z,1629053470.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:10.737Z,1629053470.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:11.145Z,1629053471.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,002CB,187,80,80,AC,FF
2021-08-15T18:51:11.146Z,1629053471.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:11.208Z,1629053471.208 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:11.557Z,1629053471.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185111.47*50

2021-08-15T18:51:11.579Z,1629053471.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 43.189813 deg, deltaT: 4.505065 s, approachRate: -0.346277 m/s, LOS rate: -1.679206 deg/s, posRepo size: 4
2021-08-15T18:51:14.007Z,1629053474.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:14.371Z,1629053474.371 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:14.371Z,1629053474.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:14.372Z,1629053474.372 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:14.373Z,1629053474.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:14.753Z,1629053474.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,002CB,187,80,80,AC,FF
2021-08-15T18:51:14.753Z,1629053474.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:14.753Z,1629053474.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:14.755Z,1629053474.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:15.175Z,1629053475.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:15.561Z,1629053475.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,002BF,188,80,80,62,FF
2021-08-15T18:51:15.561Z,1629053475.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:15.618Z,1629053475.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:16.013Z,1629053476.013 [Micromodem](INFO): Nmea in: $SNTTA,0.028434,,,,185115.89*41

2021-08-15T18:51:16.087Z,1629053476.087 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T18:51:16.088Z,1629053476.088 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:51:16.096Z,1629053476.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T18:51:16.096Z,1629053476.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:51:16.096Z,1629053476.096 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T18:51:16.099Z,1629053476.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-15T18:51:16.099Z,1629053476.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T18:51:16.099Z,1629053476.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T18:51:16.099Z,1629053476.099 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T18:51:16.120Z,1629053476.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 78.103090 deg, deltaT: 4.409563 s, approachRate: -0.163281 m/s, LOS rate: 7.917627 deg/s, posRepo size: 4
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T185116: (41.552319, -70.708603)
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T18:51:16.434Z,1629053476.434 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T18:51:16.435Z,1629053476.435 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T18:51:18.474Z,1629053478.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:18.793Z,1629053478.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:18.793Z,1629053478.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:18.793Z,1629053478.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:18.794Z,1629053478.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:19.201Z,1629053479.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,002BF,188,80,80,62,FF
2021-08-15T18:51:19.202Z,1629053479.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:19.202Z,1629053479.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:19.205Z,1629053479.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:19.605Z,1629053479.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:20.014Z,1629053480.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,002C6,186,80,80,B4,FF
2021-08-15T18:51:20.015Z,1629053480.015 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:20.170Z,1629053480.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:20.445Z,1629053480.445 [Micromodem](INFO): Nmea in: $SNTTA,0.032917,,,,185120.34*46

2021-08-15T18:51:20.477Z,1629053480.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 34.398287 deg, deltaT: 4.552162 s, approachRate: 0.092264 m/s, LOS rate: -9.600890 deg/s, posRepo size: 4
2021-08-15T18:51:22.855Z,1629053482.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:23.239Z,1629053483.239 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:23.239Z,1629053483.239 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:23.239Z,1629053483.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:23.240Z,1629053483.240 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:23.641Z,1629053483.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,002C6,186,80,80,B4,FF
2021-08-15T18:51:23.641Z,1629053483.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:23.641Z,1629053483.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:23.643Z,1629053483.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:24.050Z,1629053484.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:24.454Z,1629053484.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,002E2,186,80,80,41,FF
2021-08-15T18:51:24.454Z,1629053484.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:24.478Z,1629053484.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:24.887Z,1629053484.887 [Micromodem](INFO): Nmea in: $SNTTA,0.069898,,,,185124.80*45

2021-08-15T18:51:24.942Z,1629053484.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 51.569038 deg, deltaT: 4.308652 s, approachRate: 0.389913 m/s, LOS rate: 3.985179 deg/s, posRepo size: 4
2021-08-15T18:51:25.287Z,1629053485.287 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:51:27.309Z,1629053487.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:27.693Z,1629053487.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:27.694Z,1629053487.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:27.694Z,1629053487.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:27.695Z,1629053487.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:28.025Z,1629053488.025 [CTD_Seabird](ERROR): Failed to parse device response: 24.3385,4.80326,4924.06
2021-08-15T18:51:28.104Z,1629053488.104 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,002E2,186,80,80,41,FF
2021-08-15T18:51:28.105Z,1629053488.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:28.105Z,1629053488.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:28.107Z,1629053488.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:28.509Z,1629053488.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:28.897Z,1629053488.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00306,187,80,80,3F,FF
2021-08-15T18:51:28.898Z,1629053488.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:28.942Z,1629053488.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:29.330Z,1629053489.330 [Micromodem](INFO): Nmea in: $SNTTA,0.077294,,,,185129.25*4E

2021-08-15T18:51:29.378Z,1629053489.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 65.072961 deg, deltaT: 4.463346 s, approachRate: 0.483942 m/s, LOS rate: 3.025516 deg/s, posRepo size: 4
2021-08-15T18:51:31.818Z,1629053491.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:32.145Z,1629053492.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:32.145Z,1629053492.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:32.145Z,1629053492.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:32.146Z,1629053492.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:32.542Z,1629053492.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00306,187,80,80,3F,FF
2021-08-15T18:51:32.542Z,1629053492.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:32.542Z,1629053492.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:32.544Z,1629053492.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:32.941Z,1629053492.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:33.355Z,1629053493.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00346,185,80,80,3F,FF
2021-08-15T18:51:33.355Z,1629053493.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:33.419Z,1629053493.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:33.805Z,1629053493.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185133.68*5D

2021-08-15T18:51:33.903Z,1629053493.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 54.605399 deg, deltaT: 4.477246 s, approachRate: 0.857670 m/s, LOS rate: -2.337947 deg/s, posRepo size: 4
2021-08-15T18:51:36.217Z,1629053496.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:36.581Z,1629053496.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:36.581Z,1629053496.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:36.581Z,1629053496.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:36.582Z,1629053496.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:36.973Z,1629053496.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00346,185,80,80,3F,FF
2021-08-15T18:51:36.974Z,1629053496.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:36.974Z,1629053496.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:36.976Z,1629053496.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:37.393Z,1629053497.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:37.829Z,1629053497.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00367,183,80,80,4C,FF
2021-08-15T18:51:37.829Z,1629053497.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:37.919Z,1629053497.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:38.234Z,1629053498.234 [Micromodem](INFO): Nmea in: $SNTTA,0.038537,,,,185138.12*4F

2021-08-15T18:51:38.265Z,1629053498.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 64.146910 deg, deltaT: 4.499929 s, approachRate: 0.440007 m/s, LOS rate: 2.120369 deg/s, posRepo size: 4
2021-08-15T18:51:38.265Z,1629053498.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.76 m. Rolling out.
2021-08-15T18:51:38.266Z,1629053498.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T18:51:38.636Z,1629053498.636 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T18:51:40.668Z,1629053500.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:41.021Z,1629053501.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:41.021Z,1629053501.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:41.021Z,1629053501.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:41.022Z,1629053501.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:41.476Z,1629053501.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00367,183,80,80,4C,FF
2021-08-15T18:51:41.477Z,1629053501.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:41.477Z,1629053501.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:41.478Z,1629053501.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:41.877Z,1629053501.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:42.274Z,1629053502.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00393,184,80,80,54,FF
2021-08-15T18:51:42.274Z,1629053502.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:42.303Z,1629053502.303 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:42.787Z,1629053502.787 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185142.62*51

2021-08-15T18:51:42.838Z,1629053502.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 62.753900 deg, deltaT: 4.384653 s, approachRate: 0.602101 m/s, LOS rate: -0.317701 deg/s, posRepo size: 4
2021-08-15T18:51:43.905Z,1629053503.905 [PowerOnly](INFO): Powering down loadControl
2021-08-15T18:51:45.166Z,1629053505.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:45.508Z,1629053505.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:45.508Z,1629053505.508 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:45.508Z,1629053505.508 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:45.509Z,1629053505.509 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:45.901Z,1629053505.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00393,184,80,80,54,FF
2021-08-15T18:51:45.901Z,1629053505.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:45.901Z,1629053505.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:45.903Z,1629053505.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:46.312Z,1629053506.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:46.709Z,1629053506.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00398,185,80,80,51,FF
2021-08-15T18:51:46.709Z,1629053506.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:46.728Z,1629053506.728 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:47.173Z,1629053507.173 [Micromodem](INFO): Nmea in: $SNTTA,0.013736,,,,185147.04*4A

2021-08-15T18:51:47.227Z,1629053507.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 59.639880 deg, deltaT: 4.424777 s, approachRate: 0.067800 m/s, LOS rate: -0.703769 deg/s, posRepo size: 4
2021-08-15T18:51:49.570Z,1629053509.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:49.945Z,1629053509.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:49.945Z,1629053509.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:49.945Z,1629053509.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:49.946Z,1629053509.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:50.350Z,1629053510.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00398,185,80,80,51,FF
2021-08-15T18:51:50.350Z,1629053510.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:50.350Z,1629053510.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:50.354Z,1629053510.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:50.761Z,1629053510.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:51.165Z,1629053511.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,003AC,186,80,80,24,FF
2021-08-15T18:51:51.165Z,1629053511.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:51.227Z,1629053511.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:51.593Z,1629053511.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185151.50*52

2021-08-15T18:51:51.623Z,1629053511.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 55.535974 deg, deltaT: 4.498293 s, approachRate: 0.266767 m/s, LOS rate: -0.912325 deg/s, posRepo size: 4
2021-08-15T18:51:54.054Z,1629053514.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:54.397Z,1629053514.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:54.397Z,1629053514.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:54.397Z,1629053514.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:54.398Z,1629053514.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:54.789Z,1629053514.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,003AC,186,80,80,24,FF
2021-08-15T18:51:54.789Z,1629053514.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:54.789Z,1629053514.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:54.791Z,1629053514.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:55.197Z,1629053515.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:55.593Z,1629053515.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,003D6,187,80,80,58,FF
2021-08-15T18:51:55.594Z,1629053515.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:55.618Z,1629053515.618 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:51:56.037Z,1629053516.037 [Micromodem](INFO): Nmea in: $SNTTA,0.053187,,,,185155.93*4F

2021-08-15T18:51:56.133Z,1629053516.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 67.118602 deg, deltaT: 4.391046 s, approachRate: 0.573896 m/s, LOS rate: 2.637783 deg/s, posRepo size: 4
2021-08-15T18:51:58.121Z,1629053518.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:51:58.425Z,1629053518.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:51:58.425Z,1629053518.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:51:58.425Z,1629053518.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:51:58.426Z,1629053518.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:51:58.833Z,1629053518.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,003D6,187,80,80,58,FF
2021-08-15T18:51:58.833Z,1629053518.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:51:58.833Z,1629053518.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:51:58.835Z,1629053518.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:51:59.240Z,1629053519.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:51:59.649Z,1629053519.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,251,000,003D9,189,80,80,3B,FF
2021-08-15T18:51:59.649Z,1629053519.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:51:59.668Z,1629053519.668 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:00.134Z,1629053520.134 [Micromodem](INFO): Nmea in: $SNTTA,0.013903,,,,185159.97*47

2021-08-15T18:52:00.233Z,1629053520.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 30.297821 deg, deltaT: 4.050547 s, approachRate: 0.044438 m/s, LOS rate: -9.090324 deg/s, posRepo size: 4
2021-08-15T18:52:02.492Z,1629053522.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:02.865Z,1629053522.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:02.865Z,1629053522.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:02.865Z,1629053522.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:02.866Z,1629053522.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:03.277Z,1629053523.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
251,000,003D9,189,80,80,3B,FF
2021-08-15T18:52:03.277Z,1629053523.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:03.277Z,1629053523.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:03.279Z,1629053523.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:03.676Z,1629053523.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:04.086Z,1629053524.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,003DD,187,80,80,61,FF
2021-08-15T18:52:04.087Z,1629053524.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:04.200Z,1629053524.200 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:04.529Z,1629053524.529 [Micromodem](INFO): Nmea in: $SNTTA,0.035161,,,,185204.42*4C

2021-08-15T18:52:04.545Z,1629053524.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 68.762007 deg, deltaT: 4.531862 s, approachRate: 0.052959 m/s, LOS rate: 8.487501 deg/s, posRepo size: 4
2021-08-15T18:52:06.945Z,1629053526.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:07.309Z,1629053527.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:07.309Z,1629053527.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:07.309Z,1629053527.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:07.310Z,1629053527.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:07.713Z,1629053527.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,003DD,187,80,80,61,FF
2021-08-15T18:52:07.713Z,1629053527.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:07.713Z,1629053527.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:07.715Z,1629053527.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:08.153Z,1629053528.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:08.521Z,1629053528.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,003F3,186,80,80,60,FF
2021-08-15T18:52:08.522Z,1629053528.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:08.540Z,1629053528.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:08.961Z,1629053528.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185208.85*55

2021-08-15T18:52:08.991Z,1629053528.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 66.076637 deg, deltaT: 4.340274 s, approachRate: 0.304128 m/s, LOS rate: -0.618710 deg/s, posRepo size: 4
2021-08-15T18:52:11.396Z,1629053531.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:11.763Z,1629053531.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:11.764Z,1629053531.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:11.765Z,1629053531.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:11.766Z,1629053531.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:12.173Z,1629053532.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,003F3,186,80,80,60,FF
2021-08-15T18:52:12.173Z,1629053532.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:12.173Z,1629053532.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:12.175Z,1629053532.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:12.598Z,1629053532.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:12.993Z,1629053532.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,003E3,186,80,80,59,FF
2021-08-15T18:52:12.994Z,1629053532.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:13.048Z,1629053533.048 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:13.426Z,1629053533.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185213.32*53

2021-08-15T18:52:13.451Z,1629053533.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.199999 m, bearing: 37.876835 deg, deltaT: 4.507756 s, approachRate: -0.212966 m/s, LOS rate: -6.255840 deg/s, posRepo size: 4
2021-08-15T18:52:15.903Z,1629053535.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:16.229Z,1629053536.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:16.229Z,1629053536.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:16.229Z,1629053536.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:16.230Z,1629053536.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:16.621Z,1629053536.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,003E3,186,80,80,59,FF
2021-08-15T18:52:16.621Z,1629053536.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:16.621Z,1629053536.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:16.623Z,1629053536.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:17.057Z,1629053537.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:17.437Z,1629053537.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,003F7,185,80,80,5A,FF
2021-08-15T18:52:17.437Z,1629053537.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:17.494Z,1629053537.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:17.889Z,1629053537.889 [Micromodem](INFO): Nmea in: $SNTTA,0.105093,,,,185217.76*47

2021-08-15T18:52:17.952Z,1629053537.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 59.457090 deg, deltaT: 4.445677 s, approachRate: 0.269926 m/s, LOS rate: 4.854211 deg/s, posRepo size: 4
2021-08-15T18:52:20.317Z,1629053540.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:20.661Z,1629053540.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:20.661Z,1629053540.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:20.661Z,1629053540.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:20.662Z,1629053540.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:21.085Z,1629053541.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,003F7,185,80,80,5A,FF
2021-08-15T18:52:21.085Z,1629053541.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:21.086Z,1629053541.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:21.092Z,1629053541.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:21.483Z,1629053541.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:21.882Z,1629053541.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00400,187,80,80,66,FF
2021-08-15T18:52:21.883Z,1629053541.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:21.972Z,1629053541.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:22.301Z,1629053542.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185222.23*51

2021-08-15T18:52:22.343Z,1629053542.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 68.739939 deg, deltaT: 4.478238 s, approachRate: 0.120582 m/s, LOS rate: 2.072880 deg/s, posRepo size: 4
2021-08-15T18:52:24.726Z,1629053544.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:25.138Z,1629053545.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:25.138Z,1629053545.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:25.138Z,1629053545.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:25.139Z,1629053545.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:25.509Z,1629053545.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00400,187,80,80,66,FF
2021-08-15T18:52:25.509Z,1629053545.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:25.509Z,1629053545.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:25.511Z,1629053545.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:25.928Z,1629053545.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:25.948Z,1629053545.948 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:52:26.338Z,1629053546.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,00400,186,80,80,2B,FF
2021-08-15T18:52:26.338Z,1629053546.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:26.374Z,1629053546.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:26.771Z,1629053546.771 [Micromodem](INFO): Nmea in: $SNTTA,0.033143,,,,185226.65*4F

2021-08-15T18:52:26.815Z,1629053546.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 70.278166 deg, deltaT: 4.402025 s, approachRate: 0.000000 m/s, LOS rate: 0.349436 deg/s, posRepo size: 4
2021-08-15T18:52:29.233Z,1629053549.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:29.558Z,1629053549.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:29.558Z,1629053549.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:29.558Z,1629053549.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:29.559Z,1629053549.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:29.953Z,1629053549.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,00400,186,80,80,2B,FF
2021-08-15T18:52:29.953Z,1629053549.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:29.953Z,1629053549.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:29.955Z,1629053549.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:30.408Z,1629053550.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:30.814Z,1629053550.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00407,18A,80,80,5B,FF
2021-08-15T18:52:30.814Z,1629053550.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:30.875Z,1629053550.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:31.225Z,1629053551.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185231.10*53

2021-08-15T18:52:31.271Z,1629053551.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 30.590559 deg, deltaT: 4.500861 s, approachRate: 0.093315 m/s, LOS rate: -8.817781 deg/s, posRepo size: 4
2021-08-15T18:52:33.662Z,1629053553.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:34.038Z,1629053554.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:34.038Z,1629053554.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:34.039Z,1629053554.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:34.040Z,1629053554.040 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:34.449Z,1629053554.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00407,18A,80,80,5B,FF
2021-08-15T18:52:34.449Z,1629053554.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:34.449Z,1629053554.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:34.451Z,1629053554.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:34.860Z,1629053554.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:35.249Z,1629053555.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,003FF,188,80,80,5D,FF
2021-08-15T18:52:35.250Z,1629053555.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:35.389Z,1629053555.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:35.706Z,1629053555.706 [Micromodem](INFO): Nmea in: $SNTTA,0.045778,,,,185235.59*4D

2021-08-15T18:52:35.832Z,1629053555.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 35.708010 deg, deltaT: 4.514506 s, approachRate: -0.106323 m/s, LOS rate: 1.133557 deg/s, posRepo size: 4
2021-08-15T18:52:36.301Z,1629053556.301 [CTD_Seabird](ERROR): Failed to parse device response: ,24.3164,4.80054,4915.94
2021-08-15T18:52:38.130Z,1629053558.130 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T18:52:38.191Z,1629053558.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:38.485Z,1629053558.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:38.485Z,1629053558.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:38.485Z,1629053558.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:38.486Z,1629053558.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:38.885Z,1629053558.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,003FF,188,80,80,5D,FF
2021-08-15T18:52:38.885Z,1629053558.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:38.885Z,1629053558.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:38.887Z,1629053558.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:39.293Z,1629053559.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:39.697Z,1629053559.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,00408,188,80,80,A5,FF
2021-08-15T18:52:39.698Z,1629053559.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:39.717Z,1629053559.717 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:40.149Z,1629053560.149 [Micromodem](INFO): Nmea in: $SNTTA,0.084479,,,,185240.03*4F

2021-08-15T18:52:40.226Z,1629053560.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 36.586004 deg, deltaT: 4.327121 s, approachRate: 0.124795 m/s, LOS rate: 0.202905 deg/s, posRepo size: 4
2021-08-15T18:52:42.258Z,1629053562.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:42.521Z,1629053562.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:42.521Z,1629053562.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:42.521Z,1629053562.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:42.522Z,1629053562.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:42.929Z,1629053562.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,00408,188,80,80,A5,FF
2021-08-15T18:52:42.929Z,1629053562.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:42.929Z,1629053562.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:42.931Z,1629053562.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:43.336Z,1629053563.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:43.737Z,1629053563.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,0040A,189,80,80,47,FF
2021-08-15T18:52:43.737Z,1629053563.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:43.840Z,1629053563.840 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:44.185Z,1629053564.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185244.07*57

2021-08-15T18:52:44.261Z,1629053564.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 34.807737 deg, deltaT: 4.123807 s, approachRate: 0.029098 m/s, LOS rate: -0.431220 deg/s, posRepo size: 4
2021-08-15T18:52:45.826Z,1629053565.826 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 4
2021-08-15T18:52:46.594Z,1629053566.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:46.969Z,1629053566.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:46.969Z,1629053566.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:46.969Z,1629053566.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:46.970Z,1629053566.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:47.385Z,1629053567.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,0040A,189,80,80,47,FF
2021-08-15T18:52:47.385Z,1629053567.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:47.386Z,1629053567.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:47.387Z,1629053567.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:47.813Z,1629053567.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:48.173Z,1629053568.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,0041D,185,80,80,4E,FF
2021-08-15T18:52:48.173Z,1629053568.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:48.177Z,1629053568.177 [Micromodem](INFO): Nmea in: $SNTTA,0.048304,0.134604,,,185248.53*55

2021-08-15T18:52:48.233Z,1629053568.233 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:48.626Z,1629053568.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 64.265892 deg, deltaT: 4.393005 s, approachRate: 0.259503 m/s, LOS rate: 6.705696 deg/s, posRepo size: 4
2021-08-15T18:52:51.022Z,1629053571.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:51.423Z,1629053571.423 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:51.423Z,1629053571.423 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:51.423Z,1629053571.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:51.424Z,1629053571.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:51.849Z,1629053571.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,0041D,185,80,80,4E,FF
2021-08-15T18:52:51.849Z,1629053571.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:51.849Z,1629053571.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:51.851Z,1629053571.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:52.434Z,1629053572.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:52.825Z,1629053572.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00417,184,80,80,5F,FF
2021-08-15T18:52:52.826Z,1629053572.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:52.877Z,1629053572.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:53.237Z,1629053573.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185252.99*57

2021-08-15T18:52:53.275Z,1629053573.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 70.773478 deg, deltaT: 4.643168 s, approachRate: -0.077533 m/s, LOS rate: 1.401540 deg/s, posRepo size: 4
2021-08-15T18:52:55.677Z,1629053575.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:52:56.069Z,1629053576.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:52:56.070Z,1629053576.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:52:56.070Z,1629053576.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:52:56.072Z,1629053576.072 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:52:56.107Z,1629053576.107 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:52:56.457Z,1629053576.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00417,184,80,80,5F,FF
2021-08-15T18:52:56.457Z,1629053576.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:52:56.457Z,1629053576.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:52:56.459Z,1629053576.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:52:56.866Z,1629053576.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:52:57.254Z,1629053577.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00422,187,80,80,6C,FF
2021-08-15T18:52:57.254Z,1629053577.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:52:57.283Z,1629053577.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:52:57.705Z,1629053577.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185257.60*54

2021-08-15T18:52:57.739Z,1629053577.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 75.599279 deg, deltaT: 4.406221 s, approachRate: 0.149787 m/s, LOS rate: 1.095225 deg/s, posRepo size: 4
2021-08-15T18:53:00.179Z,1629053580.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:00.489Z,1629053580.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:00.489Z,1629053580.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:00.489Z,1629053580.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:00.490Z,1629053580.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:00.898Z,1629053580.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00422,187,80,80,6C,FF
2021-08-15T18:53:00.898Z,1629053580.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:00.898Z,1629053580.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:00.901Z,1629053580.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:01.297Z,1629053581.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:01.710Z,1629053581.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00414,18A,80,80,3D,FF
2021-08-15T18:53:01.711Z,1629053581.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:01.817Z,1629053581.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:02.129Z,1629053582.129 [Micromodem](INFO): Nmea in: $SNTTA,0.033389,0.374049,,,185302.04*58

2021-08-15T18:53:02.200Z,1629053582.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 35.540855 deg, deltaT: 4.534474 s, approachRate: -0.185246 m/s, LOS rate: -8.834194 deg/s, posRepo size: 4
2021-08-15T18:53:04.538Z,1629053584.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:04.925Z,1629053584.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:04.925Z,1629053584.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:04.925Z,1629053584.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:04.926Z,1629053584.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:05.345Z,1629053585.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00414,18A,80,80,3D,FF
2021-08-15T18:53:05.345Z,1629053585.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:05.346Z,1629053585.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:05.349Z,1629053585.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:05.822Z,1629053585.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:05.843Z,1629053585.843 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:53:06.153Z,1629053586.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00416,188,80,80,5D,FF
2021-08-15T18:53:06.154Z,1629053586.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:06.210Z,1629053586.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:06.587Z,1629053586.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185306.49*5A

2021-08-15T18:53:06.638Z,1629053586.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 40.405186 deg, deltaT: 4.392641 s, approachRate: 0.027317 m/s, LOS rate: 1.107382 deg/s, posRepo size: 4
2021-08-15T18:53:08.991Z,1629053588.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:09.390Z,1629053589.390 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:09.390Z,1629053589.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:09.390Z,1629053589.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:09.391Z,1629053589.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:09.818Z,1629053589.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00416,188,80,80,5D,FF
2021-08-15T18:53:09.818Z,1629053589.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:09.818Z,1629053589.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:09.819Z,1629053589.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:10.188Z,1629053590.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:10.993Z,1629053590.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185310.96*5F

2021-08-15T18:53:11.885Z,1629053591.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:13.418Z,1629053593.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,5D,FF
2021-08-15T18:53:13.418Z,1629053593.418 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,5D,FF
2021-08-15T18:53:13.419Z,1629053593.419 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T18:53:14.649Z,1629053594.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:15.036Z,1629053595.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:15.037Z,1629053595.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:15.037Z,1629053595.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:15.039Z,1629053595.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:15.435Z,1629053595.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,5D,FF
2021-08-15T18:53:15.435Z,1629053595.435 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:15.435Z,1629053595.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:15.437Z,1629053595.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:15.858Z,1629053595.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:16.243Z,1629053596.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,00413,189,80,80,49,FF
2021-08-15T18:53:16.243Z,1629053596.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:16.299Z,1629053596.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:16.678Z,1629053596.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185316.58*5B

2021-08-15T18:53:16.693Z,1629053596.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 39.045350 deg, deltaT: 10.088935 s, approachRate: -0.017841 m/s, LOS rate: -0.134785 deg/s, posRepo size: 4
2021-08-15T18:53:19.134Z,1629053599.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:19.478Z,1629053599.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:19.478Z,1629053599.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:19.479Z,1629053599.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:19.480Z,1629053599.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:19.879Z,1629053599.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,00413,189,80,80,49,FF
2021-08-15T18:53:19.879Z,1629053599.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:19.879Z,1629053599.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:19.881Z,1629053599.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:20.289Z,1629053600.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:20.687Z,1629053600.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,00415,189,80,80,46,FF
2021-08-15T18:53:20.687Z,1629053600.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:20.706Z,1629053600.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:21.141Z,1629053601.141 [Micromodem](INFO): Nmea in: $SNTTA,0.049027,,,,185321.02*46

2021-08-15T18:53:21.167Z,1629053601.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 40.513984 deg, deltaT: 4.406839 s, approachRate: 0.027231 m/s, LOS rate: 0.333262 deg/s, posRepo size: 4
2021-08-15T18:53:23.556Z,1629053603.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:23.917Z,1629053603.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:23.917Z,1629053603.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:23.917Z,1629053603.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:23.918Z,1629053603.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:24.322Z,1629053604.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,00415,189,80,80,46,FF
2021-08-15T18:53:24.322Z,1629053604.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:24.323Z,1629053604.323 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:24.328Z,1629053604.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:24.731Z,1629053604.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:25.137Z,1629053605.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0041F,184,80,80,35,FF
2021-08-15T18:53:25.138Z,1629053605.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:25.187Z,1629053605.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:25.577Z,1629053605.577 [Micromodem](INFO): Nmea in: $SNTTA,0.116142,,,,185325.47*4A

2021-08-15T18:53:25.608Z,1629053605.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 75.415370 deg, deltaT: 4.481034 s, approachRate: 0.133897 m/s, LOS rate: 7.788690 deg/s, posRepo size: 4
2021-08-15T18:53:25.991Z,1629053605.991 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T18:53:28.002Z,1629053608.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:28.377Z,1629053608.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:28.377Z,1629053608.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:28.377Z,1629053608.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:28.378Z,1629053608.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:28.765Z,1629053608.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0041F,184,80,80,35,FF
2021-08-15T18:53:28.765Z,1629053608.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:28.765Z,1629053608.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:28.767Z,1629053608.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:29.173Z,1629053609.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:29.577Z,1629053609.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,00416,187,80,80,70,FF
2021-08-15T18:53:29.577Z,1629053609.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:29.599Z,1629053609.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:29.989Z,1629053609.989 [Micromodem](INFO): Nmea in: $SNTTA,0.038626,0.403732,,,185329.91*5A

2021-08-15T18:53:30.066Z,1629053610.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 48.071466 deg, deltaT: 4.412329 s, approachRate: -0.122385 m/s, LOS rate: -6.197159 deg/s, posRepo size: 4
2021-08-15T18:53:32.445Z,1629053612.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:32.805Z,1629053612.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:32.805Z,1629053612.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:32.805Z,1629053612.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:32.806Z,1629053612.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:33.209Z,1629053613.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,00416,187,80,80,70,FF
2021-08-15T18:53:33.209Z,1629053613.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:33.209Z,1629053613.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:33.211Z,1629053613.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:33.622Z,1629053613.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:34.021Z,1629053614.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00420,186,80,80,6B,FF
2021-08-15T18:53:34.022Z,1629053614.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:34.142Z,1629053614.142 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:34.489Z,1629053614.489 [Micromodem](INFO): Nmea in: $SNTTA,0.038936,,,,185334.41*4A

2021-08-15T18:53:34.537Z,1629053614.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 78.303338 deg, deltaT: 4.542691 s, approachRate: 0.132081 m/s, LOS rate: 6.655058 deg/s, posRepo size: 4
2021-08-15T18:53:36.898Z,1629053616.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:37.281Z,1629053617.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:37.281Z,1629053617.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:37.281Z,1629053617.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:37.282Z,1629053617.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:37.693Z,1629053617.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00420,186,80,80,6B,FF
2021-08-15T18:53:37.694Z,1629053617.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:37.694Z,1629053617.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:37.695Z,1629053617.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:38.120Z,1629053618.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:38.497Z,1629053618.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,160,000,00415,186,80,80,38,FF
2021-08-15T18:53:38.497Z,1629053618.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:38.566Z,1629053618.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:38.937Z,1629053618.937 [Micromodem](INFO): Nmea in: $SNTTA,0.055364,,,,185338.84*49

2021-08-15T18:53:38.968Z,1629053618.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 56.306840 deg, deltaT: 4.424133 s, approachRate: -0.149182 m/s, LOS rate: -4.971934 deg/s, posRepo size: 4
2021-08-15T18:53:41.369Z,1629053621.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:41.729Z,1629053621.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:41.729Z,1629053621.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:41.729Z,1629053621.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:41.730Z,1629053621.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:42.145Z,1629053622.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
160,000,00415,186,80,80,38,FF
2021-08-15T18:53:42.145Z,1629053622.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:42.145Z,1629053622.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:42.147Z,1629053622.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:42.549Z,1629053622.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:42.945Z,1629053622.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,0042A,185,80,80,44,FF
2021-08-15T18:53:42.946Z,1629053622.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:42.965Z,1629053622.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:43.393Z,1629053623.393 [Micromodem](INFO): Nmea in: $SNTTA,0.176111,,,,185343.29*42

2021-08-15T18:53:43.419Z,1629053623.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 78.956652 deg, deltaT: 4.398772 s, approachRate: 0.286444 m/s, LOS rate: 5.149122 deg/s, posRepo size: 4
2021-08-15T18:53:45.866Z,1629053625.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:46.162Z,1629053626.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:46.163Z,1629053626.163 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:46.163Z,1629053626.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:46.164Z,1629053626.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:46.578Z,1629053626.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,0042A,185,80,80,44,FF
2021-08-15T18:53:46.578Z,1629053626.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:46.578Z,1629053626.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:46.580Z,1629053626.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:46.981Z,1629053626.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:47.385Z,1629053627.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00429,184,80,80,6E,FF
2021-08-15T18:53:47.385Z,1629053627.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:47.439Z,1629053627.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:47.849Z,1629053627.849 [Micromodem](INFO): Nmea in: $SNTTA,0.042684,,,,185347.72*45

2021-08-15T18:53:47.913Z,1629053627.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 79.440803 deg, deltaT: 4.473947 s, approachRate: -0.013412 m/s, LOS rate: 0.108216 deg/s, posRepo size: 4
2021-08-15T18:53:50.257Z,1629053630.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:50.625Z,1629053630.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:50.625Z,1629053630.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:50.625Z,1629053630.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:50.626Z,1629053630.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:51.015Z,1629053631.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00429,184,80,80,6E,FF
2021-08-15T18:53:51.015Z,1629053631.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:51.015Z,1629053631.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:51.035Z,1629053631.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:51.440Z,1629053631.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:51.853Z,1629053631.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00425,185,80,80,82,FF
2021-08-15T18:53:51.854Z,1629053631.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:51.952Z,1629053631.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:52.265Z,1629053632.265 [Micromodem](INFO): Nmea in: $SNTTA,,0.269449,,,185352.17*4A

2021-08-15T18:53:52.323Z,1629053632.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 77.880754 deg, deltaT: 4.513474 s, approachRate: -0.053173 m/s, LOS rate: -0.345643 deg/s, posRepo size: 4
2021-08-15T18:53:54.689Z,1629053634.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:55.063Z,1629053635.063 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:55.064Z,1629053635.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:55.065Z,1629053635.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:55.066Z,1629053635.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:55.470Z,1629053635.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00425,185,80,80,82,FF
2021-08-15T18:53:55.470Z,1629053635.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:55.470Z,1629053635.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:55.472Z,1629053635.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:53:55.873Z,1629053635.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:53:56.278Z,1629053636.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,00413,186,80,80,84,FF
2021-08-15T18:53:56.278Z,1629053636.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:53:56.363Z,1629053636.363 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:53:56.725Z,1629053636.725 [Micromodem](INFO): Nmea in: $SNTTA,0.035731,,,,185356.61*48

2021-08-15T18:53:56.747Z,1629053636.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 56.482741 deg, deltaT: 4.415271 s, approachRate: -0.244606 m/s, LOS rate: -4.846365 deg/s, posRepo size: 4
2021-08-15T18:53:59.176Z,1629053639.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:53:59.500Z,1629053639.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:53:59.500Z,1629053639.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:53:59.500Z,1629053639.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:53:59.501Z,1629053639.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:53:59.903Z,1629053639.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,00413,186,80,80,84,FF
2021-08-15T18:53:59.903Z,1629053639.903 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:53:59.903Z,1629053639.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:53:59.905Z,1629053639.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:00.327Z,1629053640.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:00.721Z,1629053640.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00421,186,80,80,62,FF
2021-08-15T18:54:00.722Z,1629053640.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:00.776Z,1629053640.776 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:01.169Z,1629053641.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185401.05*52

2021-08-15T18:54:01.195Z,1629053641.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 86.100436 deg, deltaT: 4.408806 s, approachRate: 0.190528 m/s, LOS rate: 6.717849 deg/s, posRepo size: 4
2021-08-15T18:54:03.586Z,1629053643.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:03.941Z,1629053643.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:03.941Z,1629053643.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:03.941Z,1629053643.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:03.942Z,1629053643.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:04.353Z,1629053644.353 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00421,186,80,80,62,FF
2021-08-15T18:54:04.354Z,1629053644.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:04.354Z,1629053644.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:04.356Z,1629053644.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:04.762Z,1629053644.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:05.159Z,1629053645.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00428,187,80,80,3A,FF
2021-08-15T18:54:05.159Z,1629053645.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:05.242Z,1629053645.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:05.598Z,1629053645.598 [Micromodem](INFO): Nmea in: $SNTTA,,0.110729,,,185405.50*44

2021-08-15T18:54:05.619Z,1629053645.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 71.422257 deg, deltaT: 4.465820 s, approachRate: 0.094048 m/s, LOS rate: -3.286782 deg/s, posRepo size: 4
2021-08-15T18:54:06.018Z,1629053646.018 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T18:54:08.034Z,1629053648.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:08.401Z,1629053648.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:08.401Z,1629053648.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:08.401Z,1629053648.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:08.402Z,1629053648.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:08.797Z,1629053648.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00428,187,80,80,3A,FF
2021-08-15T18:54:08.797Z,1629053648.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:08.798Z,1629053648.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:08.799Z,1629053648.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:09.202Z,1629053649.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:09.603Z,1629053649.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,0041B,186,80,80,83,FF
2021-08-15T18:54:09.603Z,1629053649.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:09.622Z,1629053649.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:10.029Z,1629053650.029 [Micromodem](INFO): Nmea in: $SNTTA,0.387547,0.387616,,,185409.94*55

2021-08-15T18:54:10.139Z,1629053650.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 58.051711 deg, deltaT: 4.380311 s, approachRate: -0.178069 m/s, LOS rate: -3.052419 deg/s, posRepo size: 4
2021-08-15T18:54:12.124Z,1629053652.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:12.433Z,1629053652.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:12.433Z,1629053652.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:12.433Z,1629053652.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:12.434Z,1629053652.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:12.835Z,1629053652.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,0041B,186,80,80,83,FF
2021-08-15T18:54:12.835Z,1629053652.835 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:12.835Z,1629053652.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:12.837Z,1629053652.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:13.242Z,1629053653.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:13.643Z,1629053653.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,0041C,185,80,80,79,FF
2021-08-15T18:54:13.643Z,1629053653.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:13.687Z,1629053653.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:14.109Z,1629053654.109 [Micromodem](INFO): Nmea in: $SNTTA,0.051719,,,,185413.98*40

2021-08-15T18:54:14.201Z,1629053654.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 59.612095 deg, deltaT: 4.064570 s, approachRate: 0.014761 m/s, LOS rate: 0.383899 deg/s, posRepo size: 4
2021-08-15T18:54:16.493Z,1629053656.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:16.877Z,1629053656.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:16.877Z,1629053656.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:16.877Z,1629053656.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:16.878Z,1629053656.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:17.279Z,1629053657.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,0041C,185,80,80,79,FF
2021-08-15T18:54:17.279Z,1629053657.279 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:17.279Z,1629053657.279 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:17.306Z,1629053657.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:17.686Z,1629053657.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:18.145Z,1629053658.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00413,186,80,80,78,FF
2021-08-15T18:54:18.145Z,1629053658.145 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:18.260Z,1629053658.260 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:18.521Z,1629053658.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185418.45*5E

2021-08-15T18:54:18.551Z,1629053658.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 58.938372 deg, deltaT: 4.573533 s, approachRate: -0.118071 m/s, LOS rate: -0.147309 deg/s, posRepo size: 4
2021-08-15T18:54:20.932Z,1629053660.932 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:21.325Z,1629053661.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:21.325Z,1629053661.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:21.325Z,1629053661.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:21.326Z,1629053661.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:21.727Z,1629053661.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00413,186,80,80,78,FF
2021-08-15T18:54:21.727Z,1629053661.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:21.727Z,1629053661.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:21.757Z,1629053661.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:22.141Z,1629053662.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:22.525Z,1629053662.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,0041C,187,80,80,46,FF
2021-08-15T18:54:22.526Z,1629053662.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:22.562Z,1629053662.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:22.951Z,1629053662.951 [Micromodem](INFO): Nmea in: $SNTTA,0.207350,,,,185422.90*42

2021-08-15T18:54:22.990Z,1629053662.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 85.350092 deg, deltaT: 4.301811 s, approachRate: 0.125529 m/s, LOS rate: 6.139675 deg/s, posRepo size: 4
2021-08-15T18:54:25.401Z,1629053665.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:25.774Z,1629053665.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:25.774Z,1629053665.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:25.775Z,1629053665.775 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:25.776Z,1629053665.776 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:26.165Z,1629053666.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,0041C,187,80,80,46,FF
2021-08-15T18:54:26.165Z,1629053666.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:26.165Z,1629053666.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:26.167Z,1629053666.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:26.574Z,1629053666.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:26.973Z,1629053666.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,0041B,186,80,80,9E,FF
2021-08-15T18:54:26.974Z,1629053666.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:26.994Z,1629053666.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:27.418Z,1629053667.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185427.31*51

2021-08-15T18:54:27.448Z,1629053667.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 56.087260 deg, deltaT: 4.432206 s, approachRate: -0.013537 m/s, LOS rate: -6.602318 deg/s, posRepo size: 4
2021-08-15T18:54:29.902Z,1629053669.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:30.211Z,1629053670.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:30.211Z,1629053670.211 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:30.211Z,1629053670.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:30.212Z,1629053670.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:30.609Z,1629053670.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,0041B,186,80,80,9E,FF
2021-08-15T18:54:30.609Z,1629053670.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:30.609Z,1629053670.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:30.611Z,1629053670.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:31.021Z,1629053671.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:31.417Z,1629053671.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00426,187,80,80,5E,FF
2021-08-15T18:54:31.418Z,1629053671.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:31.449Z,1629053671.449 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:31.865Z,1629053671.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185431.75*56

2021-08-15T18:54:31.911Z,1629053671.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 89.508816 deg, deltaT: 4.454189 s, approachRate: 0.148175 m/s, LOS rate: 7.503399 deg/s, posRepo size: 4
2021-08-15T18:54:34.274Z,1629053674.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:34.658Z,1629053674.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:34.658Z,1629053674.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:34.658Z,1629053674.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:34.659Z,1629053674.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:35.053Z,1629053675.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00426,187,80,80,5E,FF
2021-08-15T18:54:35.053Z,1629053675.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:35.054Z,1629053675.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:35.058Z,1629053675.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:35.465Z,1629053675.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:35.917Z,1629053675.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00424,186,80,80,3F,FF
2021-08-15T18:54:35.918Z,1629053675.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:35.921Z,1629053675.921 [Micromodem](INFO): Nmea in: $SNTTA,0.295711,0.295961,,,185436.20*58

2021-08-15T18:54:35.998Z,1629053675.998 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:36.310Z,1629053676.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 85.681930 deg, deltaT: 4.549265 s, approachRate: -0.026378 m/s, LOS rate: -0.841210 deg/s, posRepo size: 4
2021-08-15T18:54:38.706Z,1629053678.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:39.109Z,1629053679.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:39.109Z,1629053679.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:39.109Z,1629053679.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:39.110Z,1629053679.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:39.501Z,1629053679.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00424,186,80,80,3F,FF
2021-08-15T18:54:39.501Z,1629053679.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:39.501Z,1629053679.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:39.503Z,1629053679.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:39.900Z,1629053679.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:40.305Z,1629053680.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00427,186,80,80,6B,FF
2021-08-15T18:54:40.306Z,1629053680.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:40.377Z,1629053680.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:40.745Z,1629053680.745 [Micromodem](INFO): Nmea in: $SNTTA,0.039121,,,,185440.65*47

2021-08-15T18:54:40.760Z,1629053680.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 89.322646 deg, deltaT: 4.378714 s, approachRate: 0.041109 m/s, LOS rate: 0.831458 deg/s, posRepo size: 4
2021-08-15T18:54:43.170Z,1629053683.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:43.537Z,1629053683.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:43.537Z,1629053683.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:43.537Z,1629053683.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:43.538Z,1629053683.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:43.945Z,1629053683.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00427,186,80,80,6B,FF
2021-08-15T18:54:43.945Z,1629053683.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:43.945Z,1629053683.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:43.947Z,1629053683.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:44.350Z,1629053684.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:44.753Z,1629053684.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00424,187,80,80,65,FF
2021-08-15T18:54:44.753Z,1629053684.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:44.775Z,1629053684.775 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:45.189Z,1629053685.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185445.09*5E

2021-08-15T18:54:45.231Z,1629053685.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 74.243207 deg, deltaT: 4.398053 s, approachRate: -0.040928 m/s, LOS rate: -3.428662 deg/s, posRepo size: 4
2021-08-15T18:54:47.598Z,1629053687.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:47.981Z,1629053687.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:47.981Z,1629053687.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:47.981Z,1629053687.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:47.982Z,1629053687.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:48.404Z,1629053688.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00424,187,80,80,65,FF
2021-08-15T18:54:48.405Z,1629053688.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:48.405Z,1629053688.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:48.407Z,1629053688.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:48.796Z,1629053688.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:49.197Z,1629053689.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00425,186,80,80,76,FF
2021-08-15T18:54:49.198Z,1629053689.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:49.257Z,1629053689.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:49.629Z,1629053689.629 [Micromodem](INFO): Nmea in: $SNTTA,0.043672,,,,185449.55*41

2021-08-15T18:54:49.645Z,1629053689.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 73.531467 deg, deltaT: 4.482371 s, approachRate: 0.013387 m/s, LOS rate: -0.158786 deg/s, posRepo size: 4
2021-08-15T18:54:52.104Z,1629053692.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:52.437Z,1629053692.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:52.437Z,1629053692.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:52.437Z,1629053692.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:52.438Z,1629053692.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:52.829Z,1629053692.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00425,186,80,80,76,FF
2021-08-15T18:54:52.829Z,1629053692.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:52.829Z,1629053692.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:52.831Z,1629053692.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:53.245Z,1629053693.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:53.637Z,1629053693.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00426,183,80,80,5C,FF
2021-08-15T18:54:53.637Z,1629053693.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:53.694Z,1629053693.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:54.105Z,1629053694.105 [Micromodem](INFO): Nmea in: $SNTTA,0.041285,,,,185453.97*4A

2021-08-15T18:54:54.158Z,1629053694.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 82.735379 deg, deltaT: 4.437410 s, approachRate: 0.013521 m/s, LOS rate: 2.074163 deg/s, posRepo size: 4
2021-08-15T18:54:56.506Z,1629053696.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:54:56.869Z,1629053696.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:54:56.869Z,1629053696.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:54:56.869Z,1629053696.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:54:56.870Z,1629053696.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:54:57.282Z,1629053697.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00426,183,80,80,5C,FF
2021-08-15T18:54:57.282Z,1629053697.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:54:57.283Z,1629053697.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:54:57.285Z,1629053697.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:54:57.692Z,1629053697.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:54:58.109Z,1629053698.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FF,000,0041A,186,80,80,7B,FF
2021-08-15T18:54:58.109Z,1629053698.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:54:58.114Z,1629053698.114 [Micromodem](INFO): Nmea in: $SNTTA,0.035956,0.143524,,,185458.43*55

2021-08-15T18:54:58.214Z,1629053698.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:54:58.525Z,1629053698.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 58.081483 deg, deltaT: 4.519538 s, approachRate: -0.159309 m/s, LOS rate: -5.454959 deg/s, posRepo size: 4
2021-08-15T18:55:00.954Z,1629053700.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:01.314Z,1629053701.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:01.315Z,1629053701.315 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:01.315Z,1629053701.315 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:01.316Z,1629053701.316 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:01.717Z,1629053701.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FF,000,0041A,186,80,80,7B,FF
2021-08-15T18:55:01.717Z,1629053701.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:01.717Z,1629053701.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:01.719Z,1629053701.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:02.155Z,1629053702.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:02.529Z,1629053702.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F53,000,00424,187,80,80,6B,FF
2021-08-15T18:55:02.530Z,1629053702.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:02.548Z,1629053702.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:02.985Z,1629053702.985 [Micromodem](INFO): Nmea in: $SNTTA,0.037091,,,,185502.86*49

2021-08-15T18:55:03.018Z,1629053703.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 92.726484 deg, deltaT: 4.334274 s, approachRate: 0.138432 m/s, LOS rate: 7.993265 deg/s, posRepo size: 4
2021-08-15T18:55:05.418Z,1629053705.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:05.764Z,1629053705.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:05.765Z,1629053705.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:05.765Z,1629053705.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:05.767Z,1629053705.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:06.166Z,1629053706.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F53,000,00424,187,80,80,6B,FF
2021-08-15T18:55:06.166Z,1629053706.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:06.166Z,1629053706.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:06.167Z,1629053706.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:06.568Z,1629053706.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:06.977Z,1629053706.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00417,189,80,80,4A,FF
2021-08-15T18:55:06.978Z,1629053706.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:07.023Z,1629053707.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:07.405Z,1629053707.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185507.31*52

2021-08-15T18:55:07.443Z,1629053707.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 55.682041 deg, deltaT: 4.477187 s, approachRate: -0.174216 m/s, LOS rate: -8.274044 deg/s, posRepo size: 4
2021-08-15T18:55:09.879Z,1629053709.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:10.205Z,1629053710.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:10.205Z,1629053710.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:10.206Z,1629053710.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:10.207Z,1629053710.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:10.605Z,1629053710.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00417,189,80,80,4A,FF
2021-08-15T18:55:10.605Z,1629053710.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:10.605Z,1629053710.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:10.607Z,1629053710.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:11.017Z,1629053711.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:11.413Z,1629053711.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,0041F,186,80,80,64,FF
2021-08-15T18:55:11.414Z,1629053711.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:11.443Z,1629053711.443 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:11.853Z,1629053711.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185511.75*55

2021-08-15T18:55:11.912Z,1629053711.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 65.834807 deg, deltaT: 4.417409 s, approachRate: 0.108660 m/s, LOS rate: 2.298353 deg/s, posRepo size: 4
2021-08-15T18:55:14.292Z,1629053714.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:14.657Z,1629053714.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:14.657Z,1629053714.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:14.657Z,1629053714.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:14.658Z,1629053714.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:15.064Z,1629053715.064 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,0041F,186,80,80,64,FF
2021-08-15T18:55:15.065Z,1629053715.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:15.065Z,1629053715.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:15.075Z,1629053715.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:15.452Z,1629053715.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:15.874Z,1629053715.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,0040F,189,80,80,60,FF
2021-08-15T18:55:15.880Z,1629053715.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:15.883Z,1629053715.883 [Micromodem](INFO): Nmea in: $SNTTA,0.245952,0.244827,,,185516.22*52

2021-08-15T18:55:15.979Z,1629053715.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:16.305Z,1629053716.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 50.065437 deg, deltaT: 4.541066 s, approachRate: -0.211403 m/s, LOS rate: -3.472614 deg/s, posRepo size: 4
2021-08-15T18:55:18.706Z,1629053718.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:19.105Z,1629053719.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:19.105Z,1629053719.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:19.105Z,1629053719.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:19.106Z,1629053719.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:19.493Z,1629053719.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,0040F,189,80,80,60,FF
2021-08-15T18:55:19.493Z,1629053719.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:19.493Z,1629053719.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:19.495Z,1629053719.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:19.901Z,1629053719.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:20.309Z,1629053720.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00416,185,80,80,51,FF
2021-08-15T18:55:20.310Z,1629053720.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:20.350Z,1629053720.350 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:20.741Z,1629053720.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185520.64*57

2021-08-15T18:55:20.760Z,1629053720.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 83.614472 deg, deltaT: 4.365905 s, approachRate: 0.096199 m/s, LOS rate: 7.684326 deg/s, posRepo size: 4
2021-08-15T18:55:23.189Z,1629053723.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:23.537Z,1629053723.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:23.537Z,1629053723.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:23.538Z,1629053723.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:23.539Z,1629053723.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:23.937Z,1629053723.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00416,185,80,80,51,FF
2021-08-15T18:55:23.937Z,1629053723.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:23.937Z,1629053723.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:23.939Z,1629053723.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:24.381Z,1629053724.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:24.761Z,1629053724.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00415,186,80,80,3B,FF
2021-08-15T18:55:24.762Z,1629053724.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:24.805Z,1629053724.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:25.189Z,1629053725.189 [Micromodem](INFO): Nmea in: $SNTTA,0.037916,,,,185525.08*4C

2021-08-15T18:55:25.229Z,1629053725.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 96.600055 deg, deltaT: 4.455720 s, approachRate: -0.013465 m/s, LOS rate: 2.914363 deg/s, posRepo size: 4
2021-08-15T18:55:27.618Z,1629053727.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:27.993Z,1629053727.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:27.993Z,1629053727.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:27.993Z,1629053727.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:27.994Z,1629053727.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:28.397Z,1629053728.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00415,186,80,80,3B,FF
2021-08-15T18:55:28.397Z,1629053728.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:28.397Z,1629053728.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:28.399Z,1629053728.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:28.800Z,1629053728.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:29.209Z,1629053729.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,0041D,187,80,80,5E,FF
2021-08-15T18:55:29.210Z,1629053729.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:29.266Z,1629053729.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:29.654Z,1629053729.654 [Micromodem](INFO): Nmea in: $SNTTA,0.037216,,,,185529.54*42

2021-08-15T18:55:29.673Z,1629053729.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 95.010035 deg, deltaT: 4.460341 s, approachRate: 0.107615 m/s, LOS rate: -0.356480 deg/s, posRepo size: 4
2021-08-15T18:55:32.126Z,1629053732.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:32.433Z,1629053732.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:32.433Z,1629053732.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:32.433Z,1629053732.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:32.434Z,1629053732.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:32.837Z,1629053732.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,0041D,187,80,80,5E,FF
2021-08-15T18:55:32.837Z,1629053732.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:32.837Z,1629053732.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:32.839Z,1629053732.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:33.245Z,1629053733.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:33.645Z,1629053733.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,0040C,186,80,80,65,FF
2021-08-15T18:55:33.646Z,1629053733.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:33.670Z,1629053733.670 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:34.097Z,1629053734.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185533.98*56

2021-08-15T18:55:34.177Z,1629053734.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 92.550757 deg, deltaT: 4.403765 s, approachRate: -0.231620 m/s, LOS rate: -0.558449 deg/s, posRepo size: 4
2021-08-15T18:55:36.506Z,1629053736.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:36.881Z,1629053736.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:36.881Z,1629053736.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:36.881Z,1629053736.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:36.882Z,1629053736.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:37.281Z,1629053737.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,0040C,186,80,80,65,FF
2021-08-15T18:55:37.281Z,1629053737.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:37.281Z,1629053737.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:37.283Z,1629053737.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:37.689Z,1629053737.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:38.125Z,1629053738.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0041F,186,80,80,77,FF
2021-08-15T18:55:38.126Z,1629053738.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:38.129Z,1629053738.129 [Micromodem](INFO): Nmea in: $SNTTA,0.182596,0.181584,,,185538.43*5B

2021-08-15T18:55:38.214Z,1629053738.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:38.523Z,1629053738.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 91.636605 deg, deltaT: 4.544325 s, approachRate: 0.250862 m/s, LOS rate: -0.201164 deg/s, posRepo size: 4
2021-08-15T18:55:40.977Z,1629053740.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:41.334Z,1629053741.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:41.334Z,1629053741.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:41.334Z,1629053741.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:41.335Z,1629053741.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:41.726Z,1629053741.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0041F,186,80,80,77,FF
2021-08-15T18:55:41.726Z,1629053741.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:41.726Z,1629053741.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:41.728Z,1629053741.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:42.149Z,1629053742.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:42.533Z,1629053742.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,0040D,186,80,80,84,FF
2021-08-15T18:55:42.534Z,1629053742.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:42.552Z,1629053742.552 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:42.961Z,1629053742.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185542.87*5E

2021-08-15T18:55:42.983Z,1629053742.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 89.265040 deg, deltaT: 4.338581 s, approachRate: -0.248928 m/s, LOS rate: -0.546622 deg/s, posRepo size: 4
2021-08-15T18:55:45.416Z,1629053745.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:45.780Z,1629053745.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:45.780Z,1629053745.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:45.781Z,1629053745.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:45.782Z,1629053745.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:46.177Z,1629053746.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,0040D,186,80,80,84,FF
2021-08-15T18:55:46.177Z,1629053746.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:46.177Z,1629053746.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:46.179Z,1629053746.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:46.576Z,1629053746.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:46.982Z,1629053746.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00414,187,80,80,6D,FF
2021-08-15T18:55:46.982Z,1629053746.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:47.006Z,1629053747.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:47.413Z,1629053747.413 [Micromodem](INFO): Nmea in: $SNTTA,0.025806,,,,185547.32*42

2021-08-15T18:55:47.450Z,1629053747.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 85.165998 deg, deltaT: 4.453292 s, approachRate: 0.094312 m/s, LOS rate: -0.920452 deg/s, posRepo size: 4
2021-08-15T18:55:49.877Z,1629053749.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:50.221Z,1629053750.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:50.221Z,1629053750.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:50.221Z,1629053750.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:50.222Z,1629053750.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:50.613Z,1629053750.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00414,187,80,80,6D,FF
2021-08-15T18:55:50.613Z,1629053750.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:50.613Z,1629053750.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:50.615Z,1629053750.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:51.054Z,1629053751.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:51.429Z,1629053751.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4E,000,0041A,186,80,80,40,FF
2021-08-15T18:55:51.429Z,1629053751.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:51.483Z,1629053751.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:51.878Z,1629053751.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185551.76*52

2021-08-15T18:55:51.915Z,1629053751.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 86.367674 deg, deltaT: 4.477322 s, approachRate: 0.080404 m/s, LOS rate: 0.268392 deg/s, posRepo size: 4
2021-08-15T18:55:54.306Z,1629053754.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:54.653Z,1629053754.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:54.653Z,1629053754.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:54.653Z,1629053754.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:54.654Z,1629053754.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:55.096Z,1629053755.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4E,000,0041A,186,80,80,40,FF
2021-08-15T18:55:55.096Z,1629053755.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:55.096Z,1629053755.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:55.098Z,1629053755.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:55.465Z,1629053755.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:55:55.894Z,1629053755.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,0041D,187,80,80,7A,FF
2021-08-15T18:55:55.897Z,1629053755.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:55:55.945Z,1629053755.945 [Micromodem](INFO): Nmea in: $SNTTA,0.045834,0.275979,,,185556.24*5B

2021-08-15T18:55:55.999Z,1629053755.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:55:56.323Z,1629053756.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 88.670615 deg, deltaT: 4.516637 s, approachRate: 0.039852 m/s, LOS rate: 0.509880 deg/s, posRepo size: 4
2021-08-15T18:55:58.726Z,1629053758.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:55:59.149Z,1629053759.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:55:59.149Z,1629053759.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:55:59.149Z,1629053759.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:55:59.150Z,1629053759.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:55:59.502Z,1629053759.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,0041D,187,80,80,7A,FF
2021-08-15T18:55:59.502Z,1629053759.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:55:59.502Z,1629053759.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:55:59.503Z,1629053759.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:55:59.910Z,1629053759.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:00.309Z,1629053760.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00414,187,80,80,45,FF
2021-08-15T18:56:00.309Z,1629053760.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:00.397Z,1629053760.397 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:00.756Z,1629053760.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185600.65*57

2021-08-15T18:56:00.781Z,1629053760.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 83.696066 deg, deltaT: 4.397078 s, approachRate: -0.122808 m/s, LOS rate: -1.131331 deg/s, posRepo size: 4
2021-08-15T18:56:01.133Z,1629053761.133 [CTD_Seabird](ERROR): Failed to parse device response: 27,4936.83
2021-08-15T18:56:03.219Z,1629053763.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:03.541Z,1629053763.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:03.541Z,1629053763.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:03.541Z,1629053763.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:03.542Z,1629053763.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:03.953Z,1629053763.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00414,187,80,80,45,FF
2021-08-15T18:56:03.953Z,1629053763.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:03.953Z,1629053763.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:03.955Z,1629053763.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:04.368Z,1629053764.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:04.753Z,1629053764.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDC,000,00417,18A,80,80,20,FF
2021-08-15T18:56:04.754Z,1629053764.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:04.801Z,1629053764.801 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:05.217Z,1629053765.217 [Micromodem](INFO): Nmea in: $SNTTA,0.032368,,,,185605.10*42

2021-08-15T18:56:05.258Z,1629053765.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 118.203431 deg, deltaT: 4.404389 s, approachRate: 0.040868 m/s, LOS rate: 7.834768 deg/s, posRepo size: 4
2021-08-15T18:56:07.610Z,1629053767.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:07.989Z,1629053767.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:07.989Z,1629053767.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:07.989Z,1629053767.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:07.990Z,1629053767.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:08.401Z,1629053768.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDC,000,00417,18A,80,80,20,FF
2021-08-15T18:56:08.401Z,1629053768.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:08.402Z,1629053768.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:08.403Z,1629053768.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:08.797Z,1629053768.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:09.201Z,1629053769.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,0040D,189,80,80,34,FF
2021-08-15T18:56:09.202Z,1629053769.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:09.259Z,1629053769.259 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:09.649Z,1629053769.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185609.55*5D

2021-08-15T18:56:09.670Z,1629053769.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 119.675351 deg, deltaT: 4.457313 s, approachRate: -0.134610 m/s, LOS rate: 0.330226 deg/s, posRepo size: 4
2021-08-15T18:56:12.138Z,1629053772.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:12.433Z,1629053772.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:12.433Z,1629053772.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:12.433Z,1629053772.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:12.434Z,1629053772.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:12.845Z,1629053772.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,0040D,189,80,80,34,FF
2021-08-15T18:56:12.845Z,1629053772.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:12.845Z,1629053772.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:12.847Z,1629053772.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:13.253Z,1629053773.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:13.649Z,1629053773.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00420,189,80,80,60,FF
2021-08-15T18:56:13.649Z,1629053773.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:13.794Z,1629053773.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:14.089Z,1629053774.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185613.99*56

2021-08-15T18:56:14.167Z,1629053774.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 43.011327 deg, deltaT: 4.536522 s, approachRate: 0.251294 m/s, LOS rate: -16.899295 deg/s, posRepo size: 4
2021-08-15T18:56:16.494Z,1629053776.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:16.877Z,1629053776.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:16.877Z,1629053776.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:16.877Z,1629053776.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:16.878Z,1629053776.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:17.284Z,1629053777.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00420,189,80,80,60,FF
2021-08-15T18:56:17.285Z,1629053777.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:17.285Z,1629053777.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:17.286Z,1629053777.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:17.689Z,1629053777.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:18.121Z,1629053778.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C68,000,00417,18A,80,80,54,FF
2021-08-15T18:56:18.121Z,1629053778.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:18.149Z,1629053778.149 [Micromodem](INFO): Nmea in: $SNTTA,0.044739,0.142565,,,185618.43*56

2021-08-15T18:56:18.221Z,1629053778.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:18.535Z,1629053778.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 125.192942 deg, deltaT: 4.425958 s, approachRate: -0.122008 m/s, LOS rate: 18.568096 deg/s, posRepo size: 4
2021-08-15T18:56:20.972Z,1629053780.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:21.326Z,1629053781.326 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:21.326Z,1629053781.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:21.326Z,1629053781.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:21.326Z,1629053781.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:21.725Z,1629053781.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C68,000,00417,18A,80,80,54,FF
2021-08-15T18:56:21.726Z,1629053781.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:21.726Z,1629053781.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:21.727Z,1629053781.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:22.145Z,1629053782.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:22.537Z,1629053782.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,00419,184,80,80,6D,FF
2021-08-15T18:56:22.538Z,1629053782.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:22.556Z,1629053782.556 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:22.969Z,1629053782.969 [Micromodem](INFO): Nmea in: $SNTTA,,0.039540,,,185622.87*4E

2021-08-15T18:56:23.006Z,1629053783.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 77.755317 deg, deltaT: 4.335111 s, approachRate: 0.027681 m/s, LOS rate: -10.942655 deg/s, posRepo size: 4
2021-08-15T18:56:25.407Z,1629053785.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:25.772Z,1629053785.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:25.773Z,1629053785.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:25.773Z,1629053785.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:25.775Z,1629053785.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:26.177Z,1629053786.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,00419,184,80,80,6D,FF
2021-08-15T18:56:26.177Z,1629053786.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:26.177Z,1629053786.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:26.179Z,1629053786.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:26.588Z,1629053786.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:26.973Z,1629053786.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00422,186,80,80,84,FF
2021-08-15T18:56:26.974Z,1629053786.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:27.017Z,1629053787.017 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:27.413Z,1629053787.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185627.32*50

2021-08-15T18:56:27.458Z,1629053787.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 73.142016 deg, deltaT: 4.460765 s, approachRate: 0.121054 m/s, LOS rate: -1.034195 deg/s, posRepo size: 4
2021-08-15T18:56:29.877Z,1629053789.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:30.209Z,1629053790.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:30.209Z,1629053790.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:30.209Z,1629053790.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:30.210Z,1629053790.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:30.617Z,1629053790.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00422,186,80,80,84,FF
2021-08-15T18:56:30.618Z,1629053790.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:30.618Z,1629053790.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:30.619Z,1629053790.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:31.043Z,1629053791.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:31.425Z,1629053791.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,00411,189,80,80,7E,FF
2021-08-15T18:56:31.426Z,1629053791.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:31.483Z,1629053791.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:31.857Z,1629053791.857 [Micromodem](INFO): Nmea in: $SNTTA,0.474670,0.475351,,,185631.76*50

2021-08-15T18:56:31.909Z,1629053791.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 35.207679 deg, deltaT: 4.466243 s, approachRate: -0.228380 m/s, LOS rate: -8.493568 deg/s, posRepo size: 4
2021-08-15T18:56:34.302Z,1629053794.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:34.657Z,1629053794.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:34.657Z,1629053794.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:34.657Z,1629053794.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:34.658Z,1629053794.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:35.061Z,1629053795.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,00411,189,80,80,7E,FF
2021-08-15T18:56:35.061Z,1629053795.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:35.062Z,1629053795.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:35.069Z,1629053795.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:35.472Z,1629053795.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:35.869Z,1629053795.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00419,186,80,80,91,FF
2021-08-15T18:56:35.869Z,1629053795.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:35.969Z,1629053795.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:36.293Z,1629053796.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185636.21*52

2021-08-15T18:56:36.364Z,1629053796.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 65.531383 deg, deltaT: 4.486178 s, approachRate: 0.106996 m/s, LOS rate: 6.759363 deg/s, posRepo size: 4
2021-08-15T18:56:38.714Z,1629053798.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:39.129Z,1629053799.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:39.129Z,1629053799.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:39.129Z,1629053799.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:39.130Z,1629053799.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:39.509Z,1629053799.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00419,186,80,80,91,FF
2021-08-15T18:56:39.509Z,1629053799.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:39.509Z,1629053799.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:39.511Z,1629053799.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:39.908Z,1629053799.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:40.323Z,1629053800.323 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00421,184,80,80,67,FF
2021-08-15T18:56:40.323Z,1629053800.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:40.403Z,1629053800.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:40.745Z,1629053800.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185640.65*53

2021-08-15T18:56:40.774Z,1629053800.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 80.788441 deg, deltaT: 4.438251 s, approachRate: 0.108150 m/s, LOS rate: 3.437628 deg/s, posRepo size: 4
2021-08-15T18:56:43.178Z,1629053803.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:43.545Z,1629053803.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:43.545Z,1629053803.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:43.545Z,1629053803.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:43.546Z,1629053803.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:43.945Z,1629053803.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00421,184,80,80,67,FF
2021-08-15T18:56:43.945Z,1629053803.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:43.946Z,1629053803.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:43.947Z,1629053803.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:44.375Z,1629053804.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:44.753Z,1629053804.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00413,188,80,80,19,FF
2021-08-15T18:56:44.753Z,1629053804.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:44.793Z,1629053804.793 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:45.193Z,1629053805.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185645.09*5C

2021-08-15T18:56:45.220Z,1629053805.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 52.669450 deg, deltaT: 4.385331 s, approachRate: -0.191548 m/s, LOS rate: -6.412057 deg/s, posRepo size: 4
2021-08-15T18:56:47.610Z,1629053807.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:47.993Z,1629053807.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:47.993Z,1629053807.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:47.993Z,1629053807.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:47.994Z,1629053807.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:48.397Z,1629053808.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00413,188,80,80,19,FF
2021-08-15T18:56:48.397Z,1629053808.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:48.397Z,1629053808.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:48.399Z,1629053808.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:48.809Z,1629053808.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:49.197Z,1629053809.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,0040E,18A,80,80,67,FF
2021-08-15T18:56:49.198Z,1629053809.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:49.267Z,1629053809.267 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:49.638Z,1629053809.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185649.54*58

2021-08-15T18:56:49.654Z,1629053809.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 44.703773 deg, deltaT: 4.473674 s, approachRate: -0.067059 m/s, LOS rate: -1.780567 deg/s, posRepo size: 4
2021-08-15T18:56:52.121Z,1629053812.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:52.429Z,1629053812.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:52.429Z,1629053812.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:52.429Z,1629053812.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:52.430Z,1629053812.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:52.841Z,1629053812.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,0040E,18A,80,80,67,FF
2021-08-15T18:56:52.841Z,1629053812.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:52.841Z,1629053812.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:52.843Z,1629053812.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:53.249Z,1629053813.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:53.650Z,1629053813.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,0040F,189,80,80,3E,FF
2021-08-15T18:56:53.651Z,1629053813.651 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:53.694Z,1629053813.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:54.086Z,1629053814.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185653.99*52

2021-08-15T18:56:54.121Z,1629053814.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 49.165416 deg, deltaT: 4.427438 s, approachRate: 0.013553 m/s, LOS rate: 1.007726 deg/s, posRepo size: 4
2021-08-15T18:56:56.499Z,1629053816.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:56:56.870Z,1629053816.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:56:56.870Z,1629053816.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:56:56.871Z,1629053816.871 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:56:56.872Z,1629053816.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:56:57.271Z,1629053817.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,0040F,189,80,80,3E,FF
2021-08-15T18:56:57.271Z,1629053817.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:56:57.271Z,1629053817.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:56:57.273Z,1629053817.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:56:57.687Z,1629053817.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:56:58.109Z,1629053818.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33C,000,0040C,189,80,80,5B,FF
2021-08-15T18:56:58.110Z,1629053818.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:56:58.113Z,1629053818.113 [Micromodem](INFO): Nmea in: $SNTTA,0.145409,0.145284,,,185658.42*5C

2021-08-15T18:56:58.201Z,1629053818.201 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:56:58.537Z,1629053818.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 39.968457 deg, deltaT: 4.507036 s, approachRate: -0.039938 m/s, LOS rate: -2.040578 deg/s, posRepo size: 4
2021-08-15T18:57:00.986Z,1629053820.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:01.318Z,1629053821.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:01.318Z,1629053821.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:01.318Z,1629053821.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:01.319Z,1629053821.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:01.741Z,1629053821.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33C,000,0040C,189,80,80,5B,FF
2021-08-15T18:57:01.741Z,1629053821.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:01.742Z,1629053821.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:01.750Z,1629053821.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:02.141Z,1629053822.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:02.533Z,1629053822.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,0040C,189,80,80,83,FF
2021-08-15T18:57:02.534Z,1629053822.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:02.563Z,1629053822.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:02.951Z,1629053822.951 [Micromodem](INFO): Nmea in: $SNTTA,0.036738,,,,185702.89*41

2021-08-15T18:57:02.987Z,1629053822.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 48.508191 deg, deltaT: 4.361536 s, approachRate: 0.000000 m/s, LOS rate: 1.957965 deg/s, posRepo size: 4
2021-08-15T18:57:05.393Z,1629053825.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:05.769Z,1629053825.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:05.769Z,1629053825.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:05.770Z,1629053825.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:05.771Z,1629053825.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:05.848Z,1629053825.848 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T18:57:06.165Z,1629053826.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,0040C,189,80,80,83,FF
2021-08-15T18:57:06.166Z,1629053826.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:06.166Z,1629053826.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:06.167Z,1629053826.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:06.577Z,1629053826.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:06.969Z,1629053826.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,0040F,189,80,80,75,FF
2021-08-15T18:57:06.970Z,1629053826.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:07.093Z,1629053827.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:07.405Z,1629053827.405 [Micromodem](INFO): Nmea in: $SNTTA,0.038974,,,,185707.31*4F

2021-08-15T18:57:07.475Z,1629053827.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 53.852405 deg, deltaT: 4.530607 s, approachRate: 0.039731 m/s, LOS rate: 1.179580 deg/s, posRepo size: 4
2021-08-15T18:57:09.923Z,1629053829.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:10.210Z,1629053830.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:10.210Z,1629053830.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:10.210Z,1629053830.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:10.211Z,1629053830.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:10.621Z,1629053830.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,0040F,189,80,80,75,FF
2021-08-15T18:57:10.621Z,1629053830.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:10.621Z,1629053830.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:10.623Z,1629053830.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:11.029Z,1629053831.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:11.422Z,1629053831.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,00417,189,80,80,56,FF
2021-08-15T18:57:11.422Z,1629053831.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:11.451Z,1629053831.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:11.869Z,1629053831.869 [Micromodem](INFO): Nmea in: $SNTTA,0.052201,,,,185711.77*4F

2021-08-15T18:57:11.926Z,1629053831.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 43.449890 deg, deltaT: 4.357668 s, approachRate: 0.110150 m/s, LOS rate: -2.387175 deg/s, posRepo size: 4
2021-08-15T18:57:14.268Z,1629053834.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:14.657Z,1629053834.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:14.657Z,1629053834.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:14.657Z,1629053834.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:14.658Z,1629053834.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:15.056Z,1629053835.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,00417,189,80,80,56,FF
2021-08-15T18:57:15.057Z,1629053835.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:15.057Z,1629053835.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:15.065Z,1629053835.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:15.464Z,1629053835.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:15.865Z,1629053835.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32B,000,00411,189,80,80,74,FF
2021-08-15T18:57:15.866Z,1629053835.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:15.873Z,1629053835.873 [Micromodem](INFO): Nmea in: $SNTTA,0.044686,0.250924,,,185716.21*51

2021-08-15T18:57:15.932Z,1629053835.932 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:16.305Z,1629053836.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 41.666049 deg, deltaT: 4.481560 s, approachRate: -0.080330 m/s, LOS rate: -0.398040 deg/s, posRepo size: 4
2021-08-15T18:57:18.706Z,1629053838.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:19.121Z,1629053839.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:19.121Z,1629053839.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:19.121Z,1629053839.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:19.122Z,1629053839.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:19.501Z,1629053839.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32B,000,00411,189,80,80,74,FF
2021-08-15T18:57:19.501Z,1629053839.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:19.501Z,1629053839.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:19.503Z,1629053839.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:19.905Z,1629053839.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:20.313Z,1629053840.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,00419,189,80,80,99,FF
2021-08-15T18:57:20.314Z,1629053840.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:20.389Z,1629053840.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:20.741Z,1629053840.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185720.65*54

2021-08-15T18:57:20.774Z,1629053840.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 42.030249 deg, deltaT: 4.456946 s, approachRate: 0.107698 m/s, LOS rate: 0.081715 deg/s, posRepo size: 4
2021-08-15T18:57:23.154Z,1629053843.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:23.545Z,1629053843.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:23.545Z,1629053843.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:23.545Z,1629053843.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:23.546Z,1629053843.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:23.941Z,1629053843.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31E,000,00419,189,80,80,99,FF
2021-08-15T18:57:23.942Z,1629053843.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:23.942Z,1629053843.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:23.943Z,1629053843.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:24.351Z,1629053844.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:24.749Z,1629053844.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,00411,189,80,80,85,FF
2021-08-15T18:57:24.750Z,1629053844.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:24.779Z,1629053844.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:25.189Z,1629053845.189 [Micromodem](INFO): Nmea in: $SNTTA,,0.028891,,,185725.09*4F

2021-08-15T18:57:25.223Z,1629053845.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 45.007723 deg, deltaT: 4.390305 s, approachRate: -0.109333 m/s, LOS rate: 0.678193 deg/s, posRepo size: 4
2021-08-15T18:57:27.595Z,1629053847.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:27.981Z,1629053847.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:27.981Z,1629053847.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:27.981Z,1629053847.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:27.982Z,1629053847.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:28.390Z,1629053848.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,00411,189,80,80,85,FF
2021-08-15T18:57:28.390Z,1629053848.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:28.390Z,1629053848.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:28.392Z,1629053848.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:28.793Z,1629053848.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:29.193Z,1629053849.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,338,000,00410,189,80,80,B7,FF
2021-08-15T18:57:29.194Z,1629053849.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:29.222Z,1629053849.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:29.637Z,1629053849.637 [Micromodem](INFO): Nmea in: $SNTTA,0.051306,,,,185729.54*40

2021-08-15T18:57:29.673Z,1629053849.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 40.413895 deg, deltaT: 4.442392 s, approachRate: -0.013506 m/s, LOS rate: -1.034089 deg/s, posRepo size: 4
2021-08-15T18:57:32.125Z,1629053852.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:32.429Z,1629053852.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:32.429Z,1629053852.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:32.429Z,1629053852.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:32.430Z,1629053852.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:32.842Z,1629053852.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
338,000,00410,189,80,80,B7,FF
2021-08-15T18:57:32.842Z,1629053852.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:32.842Z,1629053852.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:32.843Z,1629053852.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:33.241Z,1629053853.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:33.637Z,1629053853.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0041B,189,80,80,6B,FF
2021-08-15T18:57:33.638Z,1629053853.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:33.662Z,1629053853.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:34.125Z,1629053854.125 [Micromodem](INFO): Nmea in: $SNTTA,0.057027,,,,185733.99*4C

2021-08-15T18:57:34.185Z,1629053854.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.560001 m, bearing: 39.211194 deg, deltaT: 4.439672 s, approachRate: 0.148660 m/s, LOS rate: -0.270899 deg/s, posRepo size: 4
2021-08-15T18:57:36.513Z,1629053856.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:36.877Z,1629053856.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:36.877Z,1629053856.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:36.877Z,1629053856.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:36.878Z,1629053856.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:37.281Z,1629053857.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0041B,189,80,80,6B,FF
2021-08-15T18:57:37.281Z,1629053857.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:37.281Z,1629053857.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:37.283Z,1629053857.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:37.689Z,1629053857.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:38.093Z,1629053858.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,384,000,00412,189,80,80,A1,FF
2021-08-15T18:57:38.094Z,1629053858.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:38.097Z,1629053858.097 [Micromodem](INFO): Nmea in: $SNTTA,0.143620,0.143495,,,185738.43*55

2021-08-15T18:57:38.162Z,1629053858.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:38.523Z,1629053858.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 36.023551 deg, deltaT: 4.499887 s, approachRate: -0.120003 m/s, LOS rate: -0.708383 deg/s, posRepo size: 4
2021-08-15T18:57:40.950Z,1629053860.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:41.322Z,1629053861.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:41.322Z,1629053861.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:41.322Z,1629053861.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:41.323Z,1629053861.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:41.725Z,1629053861.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
384,000,00412,189,80,80,A1,FF
2021-08-15T18:57:41.725Z,1629053861.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:41.725Z,1629053861.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:41.727Z,1629053861.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:42.133Z,1629053862.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:42.541Z,1629053862.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,00410,189,80,80,4C,FF
2021-08-15T18:57:42.542Z,1629053862.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:42.560Z,1629053862.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:42.969Z,1629053862.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185742.87*5C

2021-08-15T18:57:43.010Z,1629053863.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.900000 m, bearing: 38.095616 deg, deltaT: 4.398698 s, approachRate: -0.027281 m/s, LOS rate: 0.471063 deg/s, posRepo size: 4
2021-08-15T18:57:45.415Z,1629053865.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:45.789Z,1629053865.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:45.790Z,1629053865.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:45.790Z,1629053865.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:45.808Z,1629053865.808 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:46.173Z,1629053866.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,00410,189,80,80,4C,FF
2021-08-15T18:57:46.173Z,1629053866.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:46.173Z,1629053866.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:46.175Z,1629053866.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:46.588Z,1629053866.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:46.973Z,1629053866.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37A,000,00414,189,80,80,85,FF
2021-08-15T18:57:46.974Z,1629053866.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:47.026Z,1629053867.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:47.422Z,1629053867.422 [Micromodem](INFO): Nmea in: $SNTTA,0.034752,,,,185747.32*4E

2021-08-15T18:57:47.448Z,1629053867.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 35.690337 deg, deltaT: 4.466160 s, approachRate: 0.053738 m/s, LOS rate: -0.538556 deg/s, posRepo size: 4
2021-08-15T18:57:49.882Z,1629053869.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:50.221Z,1629053870.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:50.221Z,1629053870.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:50.221Z,1629053870.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:50.222Z,1629053870.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:50.625Z,1629053870.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37A,000,00414,189,80,80,85,FF
2021-08-15T18:57:50.625Z,1629053870.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:50.626Z,1629053870.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:50.627Z,1629053870.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:51.025Z,1629053871.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:51.433Z,1629053871.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AD,000,00415,188,80,80,9E,FF
2021-08-15T18:57:51.434Z,1629053871.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:51.463Z,1629053871.463 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:51.877Z,1629053871.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185751.77*51

2021-08-15T18:57:51.923Z,1629053871.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 32.941784 deg, deltaT: 4.437092 s, approachRate: 0.013522 m/s, LOS rate: -0.619449 deg/s, posRepo size: 4
2021-08-15T18:57:54.285Z,1629053874.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:54.667Z,1629053874.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:54.667Z,1629053874.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:54.668Z,1629053874.668 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:54.669Z,1629053874.669 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:55.073Z,1629053875.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AD,000,00415,188,80,80,9E,FF
2021-08-15T18:57:55.073Z,1629053875.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:55.074Z,1629053875.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:55.081Z,1629053875.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:55.475Z,1629053875.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:57:55.862Z,1629053875.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,00418,189,80,80,A3,FF
2021-08-15T18:57:55.864Z,1629053875.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:57:55.946Z,1629053875.946 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:57:56.287Z,1629053876.287 [Micromodem](INFO): Nmea in: $SNTTA,0.035366,,,,185756.23*4C

2021-08-15T18:57:56.343Z,1629053876.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 30.057221 deg, deltaT: 4.482425 s, approachRate: 0.040156 m/s, LOS rate: -0.643527 deg/s, posRepo size: 4
2021-08-15T18:57:58.747Z,1629053878.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:57:59.097Z,1629053879.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:57:59.097Z,1629053879.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:57:59.097Z,1629053879.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:57:59.098Z,1629053879.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:57:59.502Z,1629053879.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,00418,189,80,80,A3,FF
2021-08-15T18:57:59.502Z,1629053879.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:57:59.503Z,1629053879.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:57:59.506Z,1629053879.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:57:59.913Z,1629053879.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:00.313Z,1629053880.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38B,000,00416,188,80,80,9C,FF
2021-08-15T18:58:00.314Z,1629053880.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:00.380Z,1629053880.380 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:00.773Z,1629053880.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185800.65*59

2021-08-15T18:58:00.798Z,1629053880.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 33.479675 deg, deltaT: 4.434496 s, approachRate: -0.027061 m/s, LOS rate: 0.771780 deg/s, posRepo size: 4
2021-08-15T18:58:03.184Z,1629053883.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:03.546Z,1629053883.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:03.546Z,1629053883.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:03.546Z,1629053883.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:03.547Z,1629053883.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:03.953Z,1629053883.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38B,000,00416,188,80,80,9C,FF
2021-08-15T18:58:03.953Z,1629053883.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:03.953Z,1629053883.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:03.955Z,1629053883.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:04.357Z,1629053884.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:04.753Z,1629053884.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,308,000,00419,189,80,80,8B,FF
2021-08-15T18:58:04.754Z,1629053884.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:04.802Z,1629053884.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:05.191Z,1629053885.191 [Micromodem](INFO): Nmea in: $SNTTA,0.052364,,,,185805.10*46

2021-08-15T18:58:05.246Z,1629053885.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 39.598397 deg, deltaT: 4.421978 s, approachRate: 0.040707 m/s, LOS rate: 1.383707 deg/s, posRepo size: 4
2021-08-15T18:58:07.598Z,1629053887.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:07.997Z,1629053887.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:07.997Z,1629053887.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:07.997Z,1629053887.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:07.998Z,1629053887.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:08.393Z,1629053888.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
308,000,00419,189,80,80,8B,FF
2021-08-15T18:58:08.393Z,1629053888.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:08.393Z,1629053888.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:08.395Z,1629053888.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:08.797Z,1629053888.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:09.202Z,1629053889.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,0041D,189,80,80,78,FF
2021-08-15T18:58:09.202Z,1629053889.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:09.231Z,1629053889.231 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:09.641Z,1629053889.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185809.54*52

2021-08-15T18:58:09.663Z,1629053889.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 41.304698 deg, deltaT: 4.428263 s, approachRate: 0.054196 m/s, LOS rate: 0.385321 deg/s, posRepo size: 4
2021-08-15T18:58:12.116Z,1629053892.116 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:12.433Z,1629053892.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:12.433Z,1629053892.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:12.433Z,1629053892.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:12.434Z,1629053892.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:12.845Z,1629053892.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,0041D,189,80,80,78,FF
2021-08-15T18:58:12.845Z,1629053892.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:12.845Z,1629053892.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:12.847Z,1629053892.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:13.240Z,1629053893.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:13.645Z,1629053893.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,0041E,189,80,80,A2,FF
2021-08-15T18:58:13.646Z,1629053893.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:13.710Z,1629053893.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:14.085Z,1629053894.085 [Micromodem](INFO): Nmea in: $SNTTA,,0.398243,,,185813.99*41

2021-08-15T18:58:14.166Z,1629053894.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.740000 m, bearing: 42.199934 deg, deltaT: 4.479049 s, approachRate: 0.013396 m/s, LOS rate: 0.199872 deg/s, posRepo size: 4
2021-08-15T18:58:16.520Z,1629053896.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:16.873Z,1629053896.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:16.873Z,1629053896.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:16.873Z,1629053896.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:16.874Z,1629053896.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:17.285Z,1629053897.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,0041E,189,80,80,A2,FF
2021-08-15T18:58:17.285Z,1629053897.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:17.285Z,1629053897.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:17.287Z,1629053897.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:17.681Z,1629053897.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:18.103Z,1629053898.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,00420,189,80,80,9B,FF
2021-08-15T18:58:18.104Z,1629053898.104 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:18.189Z,1629053898.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:18.521Z,1629053898.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185818.43*54

2021-08-15T18:58:18.543Z,1629053898.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 42.308360 deg, deltaT: 4.479281 s, approachRate: 0.026790 m/s, LOS rate: 0.024206 deg/s, posRepo size: 4
2021-08-15T18:58:20.943Z,1629053900.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:21.322Z,1629053901.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:21.322Z,1629053901.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:21.322Z,1629053901.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:21.323Z,1629053901.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:21.725Z,1629053901.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,00420,189,80,80,9B,FF
2021-08-15T18:58:21.725Z,1629053901.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:21.725Z,1629053901.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:21.727Z,1629053901.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:22.145Z,1629053902.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:22.529Z,1629053902.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E1,000,00421,188,80,80,AF,FF
2021-08-15T18:58:22.530Z,1629053902.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:22.548Z,1629053902.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:22.961Z,1629053902.961 [Micromodem](INFO): Nmea in: $SNTTA,0.040649,,,,185822.87*44

2021-08-15T18:58:22.983Z,1629053902.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 40.595359 deg, deltaT: 4.359325 s, approachRate: 0.013763 m/s, LOS rate: -0.392951 deg/s, posRepo size: 4
2021-08-15T18:58:25.409Z,1629053905.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:25.772Z,1629053905.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:25.773Z,1629053905.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:25.773Z,1629053905.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:25.774Z,1629053905.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:26.197Z,1629053906.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E1,000,00421,188,80,80,AF,FF
2021-08-15T18:58:26.197Z,1629053906.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:26.197Z,1629053906.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:26.199Z,1629053906.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:26.581Z,1629053906.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:26.981Z,1629053906.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00438,18A,80,80,74,FF
2021-08-15T18:58:26.982Z,1629053906.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:27.046Z,1629053907.046 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:27.398Z,1629053907.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185827.34*58

2021-08-15T18:58:27.440Z,1629053907.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 45.538169 deg, deltaT: 4.497536 s, approachRate: 0.306835 m/s, LOS rate: 1.099004 deg/s, posRepo size: 4
2021-08-15T18:58:29.899Z,1629053909.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:30.205Z,1629053910.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:30.205Z,1629053910.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:30.205Z,1629053910.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:30.206Z,1629053910.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:30.617Z,1629053910.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00438,18A,80,80,74,FF
2021-08-15T18:58:30.617Z,1629053910.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:30.617Z,1629053910.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:30.619Z,1629053910.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:31.026Z,1629053911.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:31.422Z,1629053911.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00425,189,80,80,B3,FF
2021-08-15T18:58:31.422Z,1629053911.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:31.452Z,1629053911.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:31.882Z,1629053911.882 [Micromodem](INFO): Nmea in: $SNTTA,0.105252,,,,185831.77*47

2021-08-15T18:58:31.917Z,1629053911.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 41.037761 deg, deltaT: 4.405858 s, approachRate: -0.258746 m/s, LOS rate: -1.021460 deg/s, posRepo size: 4
2021-08-15T18:58:34.285Z,1629053914.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:34.649Z,1629053914.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:34.649Z,1629053914.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:34.649Z,1629053914.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:34.650Z,1629053914.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:35.065Z,1629053915.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,00425,189,80,80,B3,FF
2021-08-15T18:58:35.065Z,1629053915.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:35.066Z,1629053915.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:35.078Z,1629053915.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:35.460Z,1629053915.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:35.877Z,1629053915.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00428,188,80,80,8B,FF
2021-08-15T18:58:35.878Z,1629053915.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:35.881Z,1629053915.881 [Micromodem](INFO): Nmea in: $SNTTA,0.244867,0.245011,,,185836.22*57

2021-08-15T18:58:35.961Z,1629053915.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:36.303Z,1629053916.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 46.563117 deg, deltaT: 4.508889 s, approachRate: 0.039921 m/s, LOS rate: 1.225436 deg/s, posRepo size: 4
2021-08-15T18:58:38.727Z,1629053918.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:39.124Z,1629053919.124 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:39.125Z,1629053919.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:39.125Z,1629053919.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:39.126Z,1629053919.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:39.497Z,1629053919.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00428,188,80,80,8B,FF
2021-08-15T18:58:39.497Z,1629053919.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:39.497Z,1629053919.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:39.499Z,1629053919.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:39.912Z,1629053919.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:40.309Z,1629053920.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,00427,185,80,80,8C,FF
2021-08-15T18:58:40.309Z,1629053920.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:40.400Z,1629053920.400 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:40.741Z,1629053920.741 [Micromodem](INFO): Nmea in: $SNTTA,0.034800,,,,185840.65*4C

2021-08-15T18:58:40.771Z,1629053920.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 54.759604 deg, deltaT: 4.439177 s, approachRate: -0.013515 m/s, LOS rate: 1.846398 deg/s, posRepo size: 4
2021-08-15T18:58:40.846Z,1629053920.846 [CTD_Seabird](ERROR): Failed to parse device response: .46
2021-08-15T18:58:43.179Z,1629053923.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:43.541Z,1629053923.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:43.541Z,1629053923.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:43.541Z,1629053923.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:43.542Z,1629053923.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:43.941Z,1629053923.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,00427,185,80,80,8C,FF
2021-08-15T18:58:43.941Z,1629053923.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:43.941Z,1629053923.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:43.943Z,1629053923.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:44.350Z,1629053924.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:44.753Z,1629053924.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00433,186,80,80,7D,FF
2021-08-15T18:58:44.753Z,1629053924.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:44.773Z,1629053924.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:45.202Z,1629053925.202 [Micromodem](INFO): Nmea in: $SNTTA,0.036238,,,,185845.09*40

2021-08-15T18:58:45.227Z,1629053925.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 54.281433 deg, deltaT: 4.373419 s, approachRate: 0.164631 m/s, LOS rate: -0.109336 deg/s, posRepo size: 4
2021-08-15T18:58:47.632Z,1629053927.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:47.983Z,1629053927.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:47.983Z,1629053927.983 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:47.983Z,1629053927.983 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:47.984Z,1629053927.984 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:48.397Z,1629053928.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00433,186,80,80,7D,FF
2021-08-15T18:58:48.397Z,1629053928.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:48.397Z,1629053928.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:48.399Z,1629053928.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:48.803Z,1629053928.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:49.201Z,1629053929.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,0042B,186,80,80,AF,FF
2021-08-15T18:58:49.202Z,1629053929.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:49.255Z,1629053929.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:49.634Z,1629053929.634 [Micromodem](INFO): Nmea in: $SNTTA,0.048238,,,,185849.54*4D

2021-08-15T18:58:49.655Z,1629053929.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 48.296329 deg, deltaT: 4.482418 s, approachRate: -0.107086 m/s, LOS rate: -1.335240 deg/s, posRepo size: 4
2021-08-15T18:58:52.135Z,1629053932.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:52.431Z,1629053932.431 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:52.431Z,1629053932.431 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:52.431Z,1629053932.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:52.432Z,1629053932.432 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:52.833Z,1629053932.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,0042B,186,80,80,AF,FF
2021-08-15T18:58:52.833Z,1629053932.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:52.833Z,1629053932.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:52.835Z,1629053932.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:53.253Z,1629053933.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:53.637Z,1629053933.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,246,000,0042E,188,80,80,A3,FF
2021-08-15T18:58:53.637Z,1629053933.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:53.689Z,1629053933.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:54.086Z,1629053934.086 [Micromodem](INFO): Nmea in: $SNTTA,0.037792,0.407166,,,185853.98*57

2021-08-15T18:58:54.149Z,1629053934.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 41.721709 deg, deltaT: 4.433133 s, approachRate: 0.040604 m/s, LOS rate: -1.483064 deg/s, posRepo size: 4
2021-08-15T18:58:56.503Z,1629053936.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:58:56.869Z,1629053936.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:58:56.869Z,1629053936.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:58:56.869Z,1629053936.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:58:56.870Z,1629053936.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:58:57.274Z,1629053937.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
246,000,0042E,188,80,80,A3,FF
2021-08-15T18:58:57.274Z,1629053937.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:58:57.274Z,1629053937.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:58:57.277Z,1629053937.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:58:57.331Z,1629053937.331 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T18:58:57.689Z,1629053937.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:58:58.082Z,1629053938.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,0042F,189,80,80,9F,FF
2021-08-15T18:58:58.083Z,1629053938.083 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:58:58.088Z,1629053938.088 [Micromodem](INFO): Nmea in: $SNTTA,0.057503,0.144803,,,185858.42*5F

2021-08-15T18:58:58.211Z,1629053938.211 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:58:58.521Z,1629053938.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.760000 m, bearing: 37.177686 deg, deltaT: 4.521829 s, approachRate: 0.013268 m/s, LOS rate: -1.004908 deg/s, posRepo size: 4
2021-08-15T18:59:00.961Z,1629053940.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:01.328Z,1629053941.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:01.329Z,1629053941.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:01.329Z,1629053941.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:01.330Z,1629053941.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:01.729Z,1629053941.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,0042F,189,80,80,9F,FF
2021-08-15T18:59:01.729Z,1629053941.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:01.730Z,1629053941.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:01.732Z,1629053941.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:02.159Z,1629053942.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:02.533Z,1629053942.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,00430,189,80,80,9A,FF
2021-08-15T18:59:02.534Z,1629053942.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:02.573Z,1629053942.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:02.978Z,1629053942.978 [Micromodem](INFO): Nmea in: $SNTTA,0.040984,,,,185902.88*46

2021-08-15T18:59:03.029Z,1629053943.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 35.729983 deg, deltaT: 4.362049 s, approachRate: 0.013754 m/s, LOS rate: -0.331886 deg/s, posRepo size: 4
2021-08-15T18:59:05.409Z,1629053945.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:05.780Z,1629053945.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:05.780Z,1629053945.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:05.781Z,1629053945.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:05.782Z,1629053945.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:06.161Z,1629053946.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,00430,189,80,80,9A,FF
2021-08-15T18:59:06.161Z,1629053946.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:06.161Z,1629053946.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:06.163Z,1629053946.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:06.208Z,1629053946.208 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:59:06.578Z,1629053946.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:06.969Z,1629053946.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,00433,188,80,80,97,FF
2021-08-15T18:59:06.969Z,1629053946.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:07.021Z,1629053947.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:07.410Z,1629053947.410 [Micromodem](INFO): Nmea in: $SNTTA,0.078872,,,,185907.31*42

2021-08-15T18:59:07.440Z,1629053947.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 30.459611 deg, deltaT: 4.448071 s, approachRate: 0.040468 m/s, LOS rate: -1.184867 deg/s, posRepo size: 4
2021-08-15T18:59:09.882Z,1629053949.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:10.201Z,1629053950.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:10.201Z,1629053950.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:10.201Z,1629053950.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:10.202Z,1629053950.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:10.609Z,1629053950.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,00433,188,80,80,97,FF
2021-08-15T18:59:10.609Z,1629053950.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:10.609Z,1629053950.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:10.611Z,1629053950.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:11.025Z,1629053951.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:11.413Z,1629053951.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,00433,189,80,80,B4,FF
2021-08-15T18:59:11.414Z,1629053951.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:11.471Z,1629053951.471 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:11.858Z,1629053951.858 [Micromodem](INFO): Nmea in: $SNTTA,0.047759,,,,185911.76*4C

2021-08-15T18:59:11.895Z,1629053951.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.000002 m, bearing: 23.318203 deg, deltaT: 4.450366 s, approachRate: 0.000000 m/s, LOS rate: -1.604679 deg/s, posRepo size: 4
2021-08-15T18:59:14.278Z,1629053954.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:14.645Z,1629053954.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:14.645Z,1629053954.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:14.645Z,1629053954.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:14.646Z,1629053954.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:15.051Z,1629053955.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,00433,189,80,80,B4,FF
2021-08-15T18:59:15.051Z,1629053955.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:15.051Z,1629053955.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:15.057Z,1629053955.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:15.457Z,1629053955.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:15.862Z,1629053955.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39E,000,00437,189,80,80,A8,FF
2021-08-15T18:59:15.862Z,1629053955.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:15.865Z,1629053955.865 [Micromodem](INFO): Nmea in: $SNTTA,0.053672,0.253673,,,185916.20*5D

2021-08-15T18:59:15.902Z,1629053955.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:16.290Z,1629053956.290 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T18:59:16.303Z,1629053956.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 20.406281 deg, deltaT: 4.431362 s, approachRate: 0.054159 m/s, LOS rate: -0.657117 deg/s, posRepo size: 4
2021-08-15T18:59:18.702Z,1629053958.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:19.121Z,1629053959.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:19.121Z,1629053959.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:19.121Z,1629053959.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:19.122Z,1629053959.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:19.489Z,1629053959.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39E,000,00437,189,80,80,A8,FF
2021-08-15T18:59:19.489Z,1629053959.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:19.489Z,1629053959.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:19.491Z,1629053959.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:19.897Z,1629053959.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:20.309Z,1629053960.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,00439,183,80,80,87,FF
2021-08-15T18:59:20.310Z,1629053960.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:20.403Z,1629053960.403 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:20.738Z,1629053960.738 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185920.64*5B

2021-08-15T18:59:20.776Z,1629053960.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 65.602731 deg, deltaT: 4.500416 s, approachRate: 0.026664 m/s, LOS rate: 10.042727 deg/s, posRepo size: 4
2021-08-15T18:59:23.172Z,1629053963.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:23.533Z,1629053963.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:23.533Z,1629053963.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:23.533Z,1629053963.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:23.534Z,1629053963.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:23.937Z,1629053963.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,00439,183,80,80,87,FF
2021-08-15T18:59:23.937Z,1629053963.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:23.937Z,1629053963.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:23.939Z,1629053963.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:24.354Z,1629053964.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:24.745Z,1629053964.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0043A,182,80,80,9D,FF
2021-08-15T18:59:24.746Z,1629053964.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:24.765Z,1629053964.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:25.206Z,1629053965.206 [Micromodem](INFO): Nmea in: $SNTTA,0.036323,,,,185925.09*4C

2021-08-15T18:59:25.235Z,1629053965.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.420002 m, bearing: 65.117589 deg, deltaT: 4.361982 s, approachRate: 0.013756 m/s, LOS rate: -0.111220 deg/s, posRepo size: 4
2021-08-15T18:59:27.625Z,1629053967.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:27.975Z,1629053967.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:27.975Z,1629053967.975 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:27.976Z,1629053967.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:27.977Z,1629053967.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:28.389Z,1629053968.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0043A,182,80,80,9D,FF
2021-08-15T18:59:28.390Z,1629053968.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:28.390Z,1629053968.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:28.392Z,1629053968.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:28.797Z,1629053968.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:29.189Z,1629053969.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00447,187,80,80,49,FF
2021-08-15T18:59:29.190Z,1629053969.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:29.254Z,1629053969.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:29.630Z,1629053969.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185929.54*51

2021-08-15T18:59:29.651Z,1629053969.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 53.986672 deg, deltaT: 4.489198 s, approachRate: 0.173750 m/s, LOS rate: -2.479489 deg/s, posRepo size: 4
2021-08-15T18:59:32.149Z,1629053972.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:32.425Z,1629053972.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:32.425Z,1629053972.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:32.425Z,1629053972.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:32.426Z,1629053972.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:32.829Z,1629053972.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00447,187,80,80,49,FF
2021-08-15T18:59:32.829Z,1629053972.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:32.829Z,1629053972.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:32.831Z,1629053972.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:33.233Z,1629053973.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:33.644Z,1629053973.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0043F,184,80,80,6D,FF
2021-08-15T18:59:33.645Z,1629053973.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:33.664Z,1629053973.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:34.049Z,1629053974.049 [Micromodem](INFO): Nmea in: $SNTTA,0.364294,0.365125,,,185933.98*52

2021-08-15T18:59:34.139Z,1629053974.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 67.404972 deg, deltaT: 4.409733 s, approachRate: -0.108850 m/s, LOS rate: 3.042883 deg/s, posRepo size: 4
2021-08-15T18:59:36.489Z,1629053976.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:36.865Z,1629053976.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:36.865Z,1629053976.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:36.865Z,1629053976.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:36.866Z,1629053976.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:37.274Z,1629053977.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0043F,184,80,80,6D,FF
2021-08-15T18:59:37.274Z,1629053977.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:37.274Z,1629053977.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:37.276Z,1629053977.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:37.701Z,1629053977.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:38.101Z,1629053978.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00444,187,80,80,8B,FF
2021-08-15T18:59:38.102Z,1629053978.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:38.190Z,1629053978.190 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:38.526Z,1629053978.526 [Micromodem](INFO): Nmea in: $SNTTA,0.072131,,,,185938.42*4E

2021-08-15T18:59:38.547Z,1629053978.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 68.771344 deg, deltaT: 4.526262 s, approachRate: 0.066280 m/s, LOS rate: 0.301877 deg/s, posRepo size: 4
2021-08-15T18:59:40.938Z,1629053980.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:41.318Z,1629053981.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:41.318Z,1629053981.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:41.318Z,1629053981.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:41.319Z,1629053981.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:41.722Z,1629053981.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00444,187,80,80,8B,FF
2021-08-15T18:59:41.722Z,1629053981.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:41.722Z,1629053981.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:41.724Z,1629053981.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:42.149Z,1629053982.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:42.521Z,1629053982.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00446,186,80,80,62,FF
2021-08-15T18:59:42.522Z,1629053982.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:42.540Z,1629053982.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:42.969Z,1629053982.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185942.87*52

2021-08-15T18:59:42.992Z,1629053982.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.140001 m, bearing: 68.892621 deg, deltaT: 4.350069 s, approachRate: 0.027586 m/s, LOS rate: 0.027879 deg/s, posRepo size: 4
2021-08-15T18:59:45.396Z,1629053985.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:45.764Z,1629053985.764 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:45.764Z,1629053985.764 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:45.765Z,1629053985.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:45.766Z,1629053985.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:46.193Z,1629053986.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00446,186,80,80,62,FF
2021-08-15T18:59:46.193Z,1629053986.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:46.193Z,1629053986.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:46.195Z,1629053986.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:46.571Z,1629053986.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:46.985Z,1629053986.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00448,184,80,80,7F,FF
2021-08-15T18:59:46.985Z,1629053986.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:47.007Z,1629053987.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:47.388Z,1629053987.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185947.34*5F

2021-08-15T18:59:47.430Z,1629053987.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 68.076188 deg, deltaT: 4.466707 s, approachRate: 0.026864 m/s, LOS rate: -0.182782 deg/s, posRepo size: 4
2021-08-15T18:59:49.879Z,1629053989.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:50.213Z,1629053990.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:50.213Z,1629053990.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:50.213Z,1629053990.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:50.214Z,1629053990.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:50.597Z,1629053990.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00448,184,80,80,7F,FF
2021-08-15T18:59:50.597Z,1629053990.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:50.597Z,1629053990.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:50.599Z,1629053990.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:51.015Z,1629053991.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:51.405Z,1629053991.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,0044E,187,80,80,75,FF
2021-08-15T18:59:51.405Z,1629053991.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:51.476Z,1629053991.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:51.853Z,1629053991.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185951.75*5D

2021-08-15T18:59:51.913Z,1629053991.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 70.695074 deg, deltaT: 4.468917 s, approachRate: 0.080557 m/s, LOS rate: 0.586022 deg/s, posRepo size: 4
2021-08-15T18:59:54.305Z,1629053994.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:54.645Z,1629053994.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:54.645Z,1629053994.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:54.646Z,1629053994.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:54.647Z,1629053994.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:55.049Z,1629053995.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,0044E,187,80,80,75,FF
2021-08-15T18:59:55.049Z,1629053995.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:55.050Z,1629053995.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:55.077Z,1629053995.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:55.444Z,1629053995.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T18:59:55.850Z,1629053995.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,00451,184,80,80,5D,FF
2021-08-15T18:59:55.851Z,1629053995.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T18:59:55.952Z,1629053995.952 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T18:59:56.267Z,1629053996.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,185956.22*58

2021-08-15T18:59:56.278Z,1629053996.278 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:59:56.307Z,1629053996.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 70.112957 deg, deltaT: 4.476635 s, approachRate: 0.040208 m/s, LOS rate: -0.130034 deg/s, posRepo size: 4
2021-08-15T18:59:58.705Z,1629053998.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T18:59:59.095Z,1629053999.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T18:59:59.095Z,1629053999.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T18:59:59.095Z,1629053999.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T18:59:59.096Z,1629053999.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T18:59:59.490Z,1629053999.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,00451,184,80,80,5D,FF
2021-08-15T18:59:59.490Z,1629053999.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T18:59:59.490Z,1629053999.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T18:59:59.491Z,1629053999.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T18:59:59.904Z,1629053999.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:00.293Z,1629054000.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00456,184,80,80,61,FF
2021-08-15T19:00:00.293Z,1629054000.293 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:00.356Z,1629054000.356 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:00.734Z,1629054000.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190000.64*54

2021-08-15T19:00:00.781Z,1629054000.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 73.256962 deg, deltaT: 4.403556 s, approachRate: 0.068127 m/s, LOS rate: 0.713969 deg/s, posRepo size: 4
2021-08-15T19:00:03.213Z,1629054003.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:03.525Z,1629054003.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:03.525Z,1629054003.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:03.526Z,1629054003.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:03.527Z,1629054003.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:03.934Z,1629054003.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00456,184,80,80,61,FF
2021-08-15T19:00:03.934Z,1629054003.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:03.934Z,1629054003.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:03.936Z,1629054003.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:04.347Z,1629054004.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:04.742Z,1629054004.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,0045E,183,80,80,93,FF
2021-08-15T19:00:04.742Z,1629054004.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:04.762Z,1629054004.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:05.165Z,1629054005.165 [Micromodem](INFO): Nmea in: $SNTTA,0.047407,,,,190005.08*45

2021-08-15T19:00:05.195Z,1629054005.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 70.756511 deg, deltaT: 4.406375 s, approachRate: 0.108934 m/s, LOS rate: -0.567462 deg/s, posRepo size: 4
2021-08-15T19:00:07.586Z,1629054007.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:07.969Z,1629054007.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:07.969Z,1629054007.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:07.969Z,1629054007.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:07.970Z,1629054007.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:08.381Z,1629054008.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,0045E,183,80,80,93,FF
2021-08-15T19:00:08.381Z,1629054008.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:08.381Z,1629054008.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:08.383Z,1629054008.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:08.790Z,1629054008.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:09.181Z,1629054009.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00464,182,80,80,A0,FF
2021-08-15T19:00:09.181Z,1629054009.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:09.214Z,1629054009.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:09.613Z,1629054009.613 [Micromodem](INFO): Nmea in: $SNTTA,0.076791,,,,190009.53*49

2021-08-15T19:00:09.671Z,1629054009.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.939999 m, bearing: 72.653562 deg, deltaT: 4.451584 s, approachRate: 0.080869 m/s, LOS rate: 0.426152 deg/s, posRepo size: 4
2021-08-15T19:00:12.105Z,1629054012.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:12.421Z,1629054012.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:12.421Z,1629054012.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:12.421Z,1629054012.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:12.422Z,1629054012.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:12.817Z,1629054012.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00464,182,80,80,A0,FF
2021-08-15T19:00:12.817Z,1629054012.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:12.817Z,1629054012.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:12.819Z,1629054012.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:13.233Z,1629054013.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:13.629Z,1629054013.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,00467,183,80,80,A7,FF
2021-08-15T19:00:13.630Z,1629054013.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:13.680Z,1629054013.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:14.041Z,1629054014.041 [Micromodem](INFO): Nmea in: $SNTTA,0.076983,0.410603,,,190013.97*59

2021-08-15T19:00:14.149Z,1629054014.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 74.910926 deg, deltaT: 4.466435 s, approachRate: 0.040300 m/s, LOS rate: 0.505406 deg/s, posRepo size: 4
2021-08-15T19:00:16.494Z,1629054016.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:16.865Z,1629054016.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:16.865Z,1629054016.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:16.865Z,1629054016.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:16.866Z,1629054016.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:17.273Z,1629054017.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,00467,183,80,80,A7,FF
2021-08-15T19:00:17.273Z,1629054017.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:17.273Z,1629054017.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:17.275Z,1629054017.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:17.677Z,1629054017.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:18.088Z,1629054018.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00474,188,80,80,70,FF
2021-08-15T19:00:18.089Z,1629054018.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:18.098Z,1629054018.098 [Micromodem](INFO): Nmea in: $SNTTA,0.040377,0.146046,,,190018.42*5F

2021-08-15T19:00:18.189Z,1629054018.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:18.508Z,1629054018.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 48.214415 deg, deltaT: 4.508275 s, approachRate: 0.173016 m/s, LOS rate: -5.921669 deg/s, posRepo size: 4
2021-08-15T19:00:20.918Z,1629054020.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:21.308Z,1629054021.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:21.308Z,1629054021.308 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:21.308Z,1629054021.308 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:21.309Z,1629054021.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:21.702Z,1629054021.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00474,188,80,80,70,FF
2021-08-15T19:00:21.702Z,1629054021.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:21.702Z,1629054021.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:21.704Z,1629054021.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:22.128Z,1629054022.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:22.518Z,1629054022.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00481,189,80,80,52,FF
2021-08-15T19:00:22.518Z,1629054022.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:22.560Z,1629054022.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:22.945Z,1629054022.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190022.85*5B

2021-08-15T19:00:22.967Z,1629054022.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 47.973954 deg, deltaT: 4.371877 s, approachRate: 0.178412 m/s, LOS rate: -0.055002 deg/s, posRepo size: 4
2021-08-15T19:00:25.384Z,1629054025.384 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:25.756Z,1629054025.756 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:25.757Z,1629054025.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:25.757Z,1629054025.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:25.759Z,1629054025.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:26.162Z,1629054026.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00481,189,80,80,52,FF
2021-08-15T19:00:26.162Z,1629054026.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:26.162Z,1629054026.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:26.166Z,1629054026.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:26.561Z,1629054026.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:26.957Z,1629054026.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,0047C,189,80,80,28,FF
2021-08-15T19:00:26.957Z,1629054026.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:27.001Z,1629054027.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:27.398Z,1629054027.398 [Micromodem](INFO): Nmea in: $SNTTA,0.037077,,,,190027.31*4B

2021-08-15T19:00:27.420Z,1629054027.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 39.493390 deg, deltaT: 4.440034 s, approachRate: -0.067567 m/s, LOS rate: -1.910022 deg/s, posRepo size: 4
2021-08-15T19:00:29.866Z,1629054029.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:30.193Z,1629054030.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:30.193Z,1629054030.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:30.193Z,1629054030.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:30.194Z,1629054030.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:30.597Z,1629054030.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,0047C,189,80,80,28,FF
2021-08-15T19:00:30.597Z,1629054030.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:30.598Z,1629054030.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:30.599Z,1629054030.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:31.013Z,1629054031.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:31.405Z,1629054031.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A8,000,00476,189,80,80,94,FF
2021-08-15T19:00:31.406Z,1629054031.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:31.475Z,1629054031.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:31.857Z,1629054031.857 [Micromodem](INFO): Nmea in: $SNTTA,,0.482107,,,190031.75*40

2021-08-15T19:00:31.925Z,1629054031.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 30.934958 deg, deltaT: 4.479034 s, approachRate: -0.080374 m/s, LOS rate: -1.910776 deg/s, posRepo size: 4
2021-08-15T19:00:34.264Z,1629054034.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:34.633Z,1629054034.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:34.633Z,1629054034.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:34.633Z,1629054034.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:34.634Z,1629054034.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:35.045Z,1629054035.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A8,000,00476,189,80,80,94,FF
2021-08-15T19:00:35.045Z,1629054035.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:35.045Z,1629054035.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:35.047Z,1629054035.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:35.453Z,1629054035.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:35.853Z,1629054035.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C1,000,00479,189,80,80,A0,FF
2021-08-15T19:00:35.854Z,1629054035.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:35.933Z,1629054035.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:36.293Z,1629054036.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190036.19*5B

2021-08-15T19:00:36.353Z,1629054036.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 29.698776 deg, deltaT: 4.453008 s, approachRate: 0.040422 m/s, LOS rate: -0.277606 deg/s, posRepo size: 4
2021-08-15T19:00:38.698Z,1629054038.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:39.077Z,1629054039.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:39.077Z,1629054039.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:39.077Z,1629054039.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:39.078Z,1629054039.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:39.481Z,1629054039.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C1,000,00479,189,80,80,A0,FF
2021-08-15T19:00:39.481Z,1629054039.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:39.481Z,1629054039.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:39.483Z,1629054039.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:39.888Z,1629054039.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:39.964Z,1629054039.964 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T19:00:39.964Z,1629054039.964 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T19:00:39.965Z,1629054039.965 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T19:00:39.965Z,1629054039.965 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:00:39.965Z,1629054039.965 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T19:00:40.342Z,1629054040.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44B,000,0047A,189,80,80,AE,FF
2021-08-15T19:00:40.343Z,1629054040.343 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:40.581Z,1629054040.581 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19610F0000005D00000400260000000000000000151D80030C5669C08C79985DA047A59A52DACBA83FF478DFB45045C6BB23310E4CF0DDB34B00
2021-08-15T19:00:40.582Z,1629054040.582 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T19:00:40.690Z,1629054040.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:40.798Z,1629054040.798 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T19:00:40.820Z,1629054040.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 22.729871 deg, deltaT: 4.757056 s, approachRate: 0.012612 m/s, LOS rate: -1.464962 deg/s, posRepo size: 4
2021-08-15T19:00:41.185Z,1629054041.185 [Micromodem](INFO): Nmea in: $CADRQ,190041,1,10,0,64,1*7B

2021-08-15T19:00:41.186Z,1629054041.186 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19610F0000005D00000400260000000000000000151D80030C5669C08C79985DA047A59A52DACBA83FF478DFB45045C6BB23310E4CF0DDB34B00*35

2021-08-15T19:00:41.629Z,1629054041.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190040.63*57

2021-08-15T19:00:41.629Z,1629054041.629 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,190040.63*57

2021-08-15T19:00:42.817Z,1629054042.817 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T19:00:43.218Z,1629054043.218 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T19:00:43.270Z,1629054043.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:43.601Z,1629054043.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:43.601Z,1629054043.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:43.601Z,1629054043.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:43.602Z,1629054043.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:43.606Z,1629054043.606 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T19:00:44.005Z,1629054044.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44B,000,0047A,189,80,80,AE,FF
2021-08-15T19:00:44.005Z,1629054044.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:44.005Z,1629054044.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:44.008Z,1629054044.008 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,190042.355443,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5B

2021-08-15T19:00:44.009Z,1629054044.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:44.423Z,1629054044.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:45.250Z,1629054045.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190045.16*50

2021-08-15T19:00:46.038Z,1629054046.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,037E1,184,80,80,82,FF
2021-08-15T19:00:46.038Z,1629054046.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:46.207Z,1629054046.207 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:46.687Z,1629054046.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 820.800049 m, bearing: 80.127927 deg, deltaT: 5.517056 s, approachRate: 143.108948 m/s, LOS rate: 10.403747 deg/s, posRepo size: 4
2021-08-15T19:00:46.871Z,1629054046.871 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:00:46.871Z,1629054046.871 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:00:46.871Z,1629054046.871 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:00:46.872Z,1629054046.872 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:00:46.872Z,1629054046.872 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:00:46.872Z,1629054046.872 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:00:47.295Z,1629054047.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:00:47.295Z,1629054047.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:00:47.295Z,1629054047.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:00:47.295Z,1629054047.295 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:00:48.870Z,1629054048.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:49.266Z,1629054049.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:49.266Z,1629054049.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:49.266Z,1629054049.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:49.267Z,1629054049.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:49.661Z,1629054049.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,037E1,184,80,80,82,FF
2021-08-15T19:00:49.661Z,1629054049.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:49.661Z,1629054049.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:49.663Z,1629054049.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:50.083Z,1629054050.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:50.469Z,1629054050.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00482,185,80,80,9E,FF
2021-08-15T19:00:50.469Z,1629054050.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:50.933Z,1629054050.933 [Micromodem](INFO): Nmea in: $SNTTA,0.048901,,,,190050.81*40

2021-08-15T19:00:51.087Z,1629054051.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.740002 m, bearing: 74.725958 deg, deltaT: 4.316802 s, approachRate: -182.788101 m/s, LOS rate: -1.251382 deg/s, posRepo size: 4
2021-08-15T19:00:51.563Z,1629054051.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:00:51.563Z,1629054051.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:00:51.563Z,1629054051.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:00:51.563Z,1629054051.563 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:00:51.564Z,1629054051.564 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:00:51.564Z,1629054051.564 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:00:52.041Z,1629054052.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:00:52.041Z,1629054052.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:00:52.041Z,1629054052.041 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:00:52.042Z,1629054052.042 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:00:53.073Z,1629054053.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:53.461Z,1629054053.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:53.461Z,1629054053.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:53.462Z,1629054053.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:53.462Z,1629054053.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:53.861Z,1629054053.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00482,185,80,80,9E,FF
2021-08-15T19:00:53.861Z,1629054053.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:53.861Z,1629054053.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:53.863Z,1629054053.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:54.268Z,1629054054.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:54.685Z,1629054054.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,00488,185,80,80,32,FF
2021-08-15T19:00:54.686Z,1629054054.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:54.954Z,1629054054.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:55.117Z,1629054055.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190055.01*57

2021-08-15T19:00:55.135Z,1629054055.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 64.870726 deg, deltaT: 4.430217 s, approachRate: 0.081259 m/s, LOS rate: -2.224548 deg/s, posRepo size: 4
2021-08-15T19:00:57.529Z,1629054057.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:00:57.917Z,1629054057.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:00:57.917Z,1629054057.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:00:57.917Z,1629054057.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:00:57.918Z,1629054057.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:00:58.305Z,1629054058.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,00488,185,80,80,32,FF
2021-08-15T19:00:58.305Z,1629054058.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:00:58.305Z,1629054058.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:00:58.307Z,1629054058.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:00:58.720Z,1629054058.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:00:59.122Z,1629054059.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00484,184,80,80,5F,FF
2021-08-15T19:00:59.122Z,1629054059.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:00:59.411Z,1629054059.411 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:00:59.561Z,1629054059.561 [Micromodem](INFO): Nmea in: $SNTTA,0.076177,,,,190059.46*46

2021-08-15T19:00:59.593Z,1629054059.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 77.547154 deg, deltaT: 4.456894 s, approachRate: -0.053850 m/s, LOS rate: 2.844229 deg/s, posRepo size: 4
2021-08-15T19:01:02.003Z,1629054062.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:02.356Z,1629054062.356 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:02.356Z,1629054062.356 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:02.356Z,1629054062.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:02.357Z,1629054062.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:02.749Z,1629054062.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00484,184,80,80,5F,FF
2021-08-15T19:01:02.749Z,1629054062.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:02.749Z,1629054062.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:02.751Z,1629054062.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:03.170Z,1629054063.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:03.584Z,1629054063.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,00488,183,80,80,72,FF
2021-08-15T19:01:03.585Z,1629054063.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:03.651Z,1629054063.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:03.973Z,1629054063.973 [Micromodem](INFO): Nmea in: $SNTTA,0.038637,0.404357,,,190103.90*55

2021-08-15T19:01:04.021Z,1629054064.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.099998 m, bearing: 77.644354 deg, deltaT: 4.239995 s, approachRate: 0.056604 m/s, LOS rate: 0.022925 deg/s, posRepo size: 4
2021-08-15T19:01:06.421Z,1629054066.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:06.789Z,1629054066.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:06.789Z,1629054066.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:06.789Z,1629054066.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:06.790Z,1629054066.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:07.201Z,1629054067.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,00488,183,80,80,72,FF
2021-08-15T19:01:07.201Z,1629054067.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:07.201Z,1629054067.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:07.203Z,1629054067.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:07.616Z,1629054067.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:08.097Z,1629054068.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,0048E,185,80,80,47,FF
2021-08-15T19:01:08.097Z,1629054068.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:08.147Z,1629054068.147 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:08.501Z,1629054068.501 [Micromodem](INFO): Nmea in: $SNTTA,0.035992,,,,190108.35*43

2021-08-15T19:01:08.516Z,1629054068.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 80.044578 deg, deltaT: 4.500738 s, approachRate: 0.079988 m/s, LOS rate: 0.533296 deg/s, posRepo size: 4
2021-08-15T19:01:10.930Z,1629054070.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:11.315Z,1629054071.315 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:11.316Z,1629054071.316 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:11.316Z,1629054071.316 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:11.317Z,1629054071.317 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:11.719Z,1629054071.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,0048E,185,80,80,47,FF
2021-08-15T19:01:11.719Z,1629054071.719 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:11.719Z,1629054071.719 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:11.758Z,1629054071.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:12.133Z,1629054072.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:12.540Z,1629054072.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00490,182,80,80,70,FF
2021-08-15T19:01:12.541Z,1629054072.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:12.560Z,1629054072.560 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:12.943Z,1629054072.943 [Micromodem](INFO): Nmea in: $SNTTA,0.038227,,,,190112.91*4E

2021-08-15T19:01:12.989Z,1629054072.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.580002 m, bearing: 75.859742 deg, deltaT: 4.408730 s, approachRate: 0.027218 m/s, LOS rate: -0.949216 deg/s, posRepo size: 4
2021-08-15T19:01:15.462Z,1629054075.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:15.840Z,1629054075.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:15.841Z,1629054075.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:15.841Z,1629054075.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:15.842Z,1629054075.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:16.209Z,1629054076.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00490,182,80,80,70,FF
2021-08-15T19:01:16.209Z,1629054076.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:16.209Z,1629054076.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:16.210Z,1629054076.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:16.624Z,1629054076.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:17.013Z,1629054077.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00493,183,80,80,8A,FF
2021-08-15T19:01:17.014Z,1629054077.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:17.082Z,1629054077.082 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:17.449Z,1629054077.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190117.36*54

2021-08-15T19:01:17.496Z,1629054077.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 76.753390 deg, deltaT: 4.522038 s, approachRate: 0.039805 m/s, LOS rate: 0.197621 deg/s, posRepo size: 4
2021-08-15T19:01:19.902Z,1629054079.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:20.249Z,1629054080.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:20.249Z,1629054080.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:20.249Z,1629054080.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:20.250Z,1629054080.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:20.709Z,1629054080.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00493,183,80,80,8A,FF
2021-08-15T19:01:20.709Z,1629054080.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:20.710Z,1629054080.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:20.711Z,1629054080.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:21.127Z,1629054081.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:21.509Z,1629054081.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00496,185,80,80,8D,FF
2021-08-15T19:01:21.510Z,1629054081.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:21.578Z,1629054081.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:21.933Z,1629054081.933 [Micromodem](INFO): Nmea in: $SNTTA,0.424826,0.425951,,,190121.86*5A

2021-08-15T19:01:21.985Z,1629054081.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 77.029528 deg, deltaT: 4.495763 s, approachRate: 0.040037 m/s, LOS rate: 0.061422 deg/s, posRepo size: 4
2021-08-15T19:01:24.627Z,1629054084.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:24.763Z,1629054084.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:24.763Z,1629054084.763 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:24.763Z,1629054084.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:24.764Z,1629054084.764 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:25.157Z,1629054085.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00496,185,80,80,8D,FF
2021-08-15T19:01:25.157Z,1629054085.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:25.157Z,1629054085.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:25.159Z,1629054085.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:25.579Z,1629054085.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:25.965Z,1629054085.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,004A1,185,80,80,46,FF
2021-08-15T19:01:25.965Z,1629054085.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:25.969Z,1629054085.969 [Micromodem](INFO): Nmea in: $SNTTA,0.056404,0.243705,,,190126.31*55

2021-08-15T19:01:26.043Z,1629054086.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:26.628Z,1629054086.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.600002 m, bearing: 78.741870 deg, deltaT: 4.465212 s, approachRate: 0.147810 m/s, LOS rate: 0.383485 deg/s, posRepo size: 4
2021-08-15T19:01:28.820Z,1629054088.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:29.197Z,1629054089.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:29.197Z,1629054089.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:29.197Z,1629054089.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:29.198Z,1629054089.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:29.601Z,1629054089.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,004A1,185,80,80,46,FF
2021-08-15T19:01:29.601Z,1629054089.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:29.601Z,1629054089.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:29.603Z,1629054089.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:30.009Z,1629054090.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:30.403Z,1629054090.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB7,000,004A0,184,80,80,7B,FF
2021-08-15T19:01:30.403Z,1629054090.403 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:30.442Z,1629054090.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:30.841Z,1629054090.841 [Micromodem](INFO): Nmea in: $SNTTA,0.053258,,,,190130.75*41

2021-08-15T19:01:32.012Z,1629054092.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 78.886465 deg, deltaT: 4.398930 s, approachRate: -0.013641 m/s, LOS rate: 0.032871 deg/s, posRepo size: 4
2021-08-15T19:01:33.025Z,1629054093.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:33.377Z,1629054093.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:33.377Z,1629054093.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:33.377Z,1629054093.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:33.378Z,1629054093.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:33.811Z,1629054093.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB7,000,004A0,184,80,80,7B,FF
2021-08-15T19:01:33.811Z,1629054093.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:33.811Z,1629054093.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:33.833Z,1629054093.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:34.442Z,1629054094.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB7,000,004A0,184,80,80,7B,FF
2021-08-15T19:01:34.442Z,1629054094.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:34.449Z,1629054094.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:34.511Z,1629054094.511 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:34.875Z,1629054094.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.539997 m, bearing: 78.705609 deg, deltaT: 4.068909 s, approachRate: 0.000000 m/s, LOS rate: -0.044448 deg/s, posRepo size: 4
2021-08-15T19:01:35.261Z,1629054095.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190134.98*51

2021-08-15T19:01:37.321Z,1629054097.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:37.669Z,1629054097.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:37.669Z,1629054097.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:37.669Z,1629054097.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:37.670Z,1629054097.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:38.082Z,1629054098.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB7,000,004A0,184,80,80,7B,FF
2021-08-15T19:01:38.082Z,1629054098.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:38.082Z,1629054098.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:38.084Z,1629054098.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:38.632Z,1629054098.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:39.013Z,1629054099.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,004A7,185,80,80,84,FF
2021-08-15T19:01:39.013Z,1629054099.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:39.096Z,1629054099.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:39.429Z,1629054099.429 [Micromodem](INFO): Nmea in: $SNTTA,0.057874,,,,190139.23*4B

2021-08-15T19:01:39.490Z,1629054099.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 77.522545 deg, deltaT: 4.585359 s, approachRate: 0.091596 m/s, LOS rate: -0.258009 deg/s, posRepo size: 4
2021-08-15T19:01:41.895Z,1629054101.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:42.245Z,1629054102.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:42.245Z,1629054102.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:42.246Z,1629054102.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:42.246Z,1629054102.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:42.645Z,1629054102.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,004A7,185,80,80,84,FF
2021-08-15T19:01:42.645Z,1629054102.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:42.646Z,1629054102.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:42.647Z,1629054102.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:43.093Z,1629054103.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:43.453Z,1629054103.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004A9,189,80,80,83,FF
2021-08-15T19:01:43.454Z,1629054103.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:43.497Z,1629054103.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:43.894Z,1629054103.894 [Micromodem](INFO): Nmea in: $SNTTA,0.044807,,,,190143.79*4F

2021-08-15T19:01:43.956Z,1629054103.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.079998 m, bearing: 10.695045 deg, deltaT: 4.400939 s, approachRate: 0.027267 m/s, LOS rate: -15.184827 deg/s, posRepo size: 4
2021-08-15T19:01:45.904Z,1629054105.904 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T19:01:46.511Z,1629054106.511 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19610F0000005D00000400260000000000000000151D80030C5669C08C79985DA047A59A52DACBA83FF478DFB45045C6BB23310E4CF0DDB34B00
2021-08-15T19:01:46.511Z,1629054106.511 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T19:01:46.584Z,1629054106.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:46.682Z,1629054106.682 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:46.683Z,1629054106.683 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:46.683Z,1629054106.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:46.684Z,1629054106.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:46.690Z,1629054106.690 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T19:01:47.173Z,1629054107.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004A9,189,80,80,83,FF
2021-08-15T19:01:47.173Z,1629054107.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:47.174Z,1629054107.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:47.175Z,1629054107.175 [Micromodem](INFO): Nmea in: $CADRQ,190147,1,10,0,64,1*7C

2021-08-15T19:01:47.176Z,1629054107.176 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19610F0000005D00000400260000000000000000151D80030C5669C08C79985DA047A59A52DACBA83FF478DFB45045C6BB23310E4CF0DDB34B00*35

2021-08-15T19:01:47.574Z,1629054107.574 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T19:01:47.575Z,1629054107.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:47.985Z,1629054107.985 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T19:01:47.985Z,1629054107.985 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T19:01:49.222Z,1629054109.222 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T19:01:49.222Z,1629054109.222 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T19:01:49.285Z,1629054109.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:49.599Z,1629054109.599 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,190148.342830,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-15T19:01:49.599Z,1629054109.599 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,190148.342830,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5E

2021-08-15T19:01:51.242Z,1629054111.242 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T19:01:51.242Z,1629054111.242 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T181729/Courier0015.lzma.parts
2021-08-15T19:01:51.242Z,1629054111.242 [Micromodem](INFO): Packets left to send: 0
2021-08-15T19:01:51.622Z,1629054111.622 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815190151.193733,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,26.0,7.73,15,-4.73,-01,0.01,44,14500,4000*62

2021-08-15T19:01:51.622Z,1629054111.622 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815190151.193733,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,26.0,7.73,15,-4.73,-01,0.01,44,14500,4000*62

2021-08-15T19:01:51.933Z,1629054111.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:51.934Z,1629054111.934 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T19:01:51.934Z,1629054111.934 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T19:01:51.934Z,1629054111.934 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T19:01:51.934Z,1629054111.934 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:01:51.934Z,1629054111.934 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T19:01:52.840Z,1629054112.840 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.156417
2021-08-15T19:01:54.700Z,1629054114.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:55.064Z,1629054115.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:01:55.065Z,1629054115.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:01:55.065Z,1629054115.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:01:55.066Z,1629054115.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:01:55.466Z,1629054115.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004A9,189,80,80,83,FF
2021-08-15T19:01:55.466Z,1629054115.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:01:55.466Z,1629054115.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:01:57.493Z,1629054117.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:01:58.714Z,1629054118.714 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:01:59.124Z,1629054119.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:01:59.511Z,1629054119.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B7,18A,80,80,62,FF
2021-08-15T19:01:59.511Z,1629054119.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:01:59.573Z,1629054119.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:01:59.921Z,1629054119.921 [Micromodem](INFO): Nmea in: $SNTTA,0.038356,0.464115,,,190159.86*5D

2021-08-15T19:01:59.975Z,1629054119.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 10.006781 deg, deltaT: 16.075406 s, approachRate: 0.052254 m/s, LOS rate: -0.042815 deg/s, posRepo size: 4
2021-08-15T19:02:02.351Z,1629054122.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:02.737Z,1629054122.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:02.737Z,1629054122.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:02.737Z,1629054122.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:02.738Z,1629054122.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:03.146Z,1629054123.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004B7,18A,80,80,62,FF
2021-08-15T19:02:03.147Z,1629054123.147 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:03.147Z,1629054123.147 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:03.149Z,1629054123.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:03.541Z,1629054123.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:03.950Z,1629054123.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004B9,18A,80,80,67,FF
2021-08-15T19:02:03.950Z,1629054123.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:03.953Z,1629054123.953 [Micromodem](INFO): Nmea in: $SNTTA,0.077958,0.247708,,,190204.30*59

2021-08-15T19:02:04.026Z,1629054124.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:04.404Z,1629054124.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 9.782981 deg, deltaT: 4.453014 s, approachRate: 0.026948 m/s, LOS rate: -0.050258 deg/s, posRepo size: 4
2021-08-15T19:02:06.796Z,1629054126.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:07.173Z,1629054127.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:07.173Z,1629054127.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:07.173Z,1629054127.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:07.174Z,1629054127.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:07.577Z,1629054127.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004B9,18A,80,80,67,FF
2021-08-15T19:02:07.577Z,1629054127.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:07.577Z,1629054127.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:07.579Z,1629054127.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:07.986Z,1629054127.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:08.389Z,1629054128.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EC,000,004BB,189,80,80,88,FF
2021-08-15T19:02:08.390Z,1629054128.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:08.419Z,1629054128.419 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:08.817Z,1629054128.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190208.73*58

2021-08-15T19:02:08.839Z,1629054128.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 10.752874 deg, deltaT: 4.393159 s, approachRate: 0.027314 m/s, LOS rate: 0.220773 deg/s, posRepo size: 4
2021-08-15T19:02:11.271Z,1629054131.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:11.617Z,1629054131.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:11.617Z,1629054131.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:11.617Z,1629054131.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:11.618Z,1629054131.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:12.029Z,1629054132.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EC,000,004BB,189,80,80,88,FF
2021-08-15T19:02:12.029Z,1629054132.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:12.029Z,1629054132.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:12.031Z,1629054132.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:12.429Z,1629054132.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:12.853Z,1629054132.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B0,000,004C7,189,80,80,74,FF
2021-08-15T19:02:12.854Z,1629054132.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:12.944Z,1629054132.944 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:13.269Z,1629054133.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190213.18*5F

2021-08-15T19:02:13.295Z,1629054133.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 14.055748 deg, deltaT: 4.525533 s, approachRate: 0.159098 m/s, LOS rate: 0.729831 deg/s, posRepo size: 4
2021-08-15T19:02:15.682Z,1629054135.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:16.074Z,1629054136.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:16.075Z,1629054136.075 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:16.075Z,1629054136.075 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:16.081Z,1629054136.081 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:16.858Z,1629054136.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B0,000,004C7,189,80,80,74,FF
2021-08-15T19:02:16.858Z,1629054136.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:16.858Z,1629054136.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:16.876Z,1629054136.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:17.197Z,1629054137.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:17.594Z,1629054137.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,499,000,004C6,18A,80,80,92,FF
2021-08-15T19:02:17.594Z,1629054137.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:17.613Z,1629054137.613 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:18.081Z,1629054138.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 15.349175 deg, deltaT: 4.669155 s, approachRate: -0.012851 m/s, LOS rate: 0.277015 deg/s, posRepo size: 4
2021-08-15T19:02:18.409Z,1629054138.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190218.02*5F

2021-08-15T19:02:20.437Z,1629054140.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:20.816Z,1629054140.816 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:20.816Z,1629054140.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:20.817Z,1629054140.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:20.818Z,1629054140.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:21.217Z,1629054141.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
499,000,004C6,18A,80,80,92,FF
2021-08-15T19:02:21.217Z,1629054141.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:21.217Z,1629054141.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:21.219Z,1629054141.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:21.637Z,1629054141.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:22.041Z,1629054142.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CB,000,004C7,189,80,80,79,FF
2021-08-15T19:02:22.042Z,1629054142.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:22.169Z,1629054142.169 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:22.471Z,1629054142.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 12.894513 deg, deltaT: 4.555226 s, approachRate: 0.013172 m/s, LOS rate: -0.538867 deg/s, posRepo size: 4
2021-08-15T19:02:23.657Z,1629054143.657 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T19:02:24.887Z,1629054144.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:25.257Z,1629054145.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:25.257Z,1629054145.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:25.257Z,1629054145.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:25.258Z,1629054145.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:25.665Z,1629054145.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CB,000,004C7,189,80,80,79,FF
2021-08-15T19:02:25.665Z,1629054145.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:25.665Z,1629054145.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:25.667Z,1629054145.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:26.072Z,1629054146.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:26.477Z,1629054146.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,004CC,18A,80,80,8A,FF
2021-08-15T19:02:26.477Z,1629054146.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:26.496Z,1629054146.496 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:26.909Z,1629054146.909 [Micromodem](INFO): Nmea in: $SNTTA,0.040472,,,,190226.81*42

2021-08-15T19:02:26.931Z,1629054146.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 18.745394 deg, deltaT: 4.327268 s, approachRate: 0.069328 m/s, LOS rate: 1.352096 deg/s, posRepo size: 4
2021-08-15T19:02:29.315Z,1629054149.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:29.730Z,1629054149.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:29.730Z,1629054149.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:29.731Z,1629054149.731 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:29.733Z,1629054149.733 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:30.141Z,1629054150.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,004CC,18A,80,80,8A,FF
2021-08-15T19:02:30.141Z,1629054150.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:30.141Z,1629054150.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:30.143Z,1629054150.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:30.525Z,1629054150.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:30.913Z,1629054150.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BA,000,004CE,18A,80,80,66,FF
2021-08-15T19:02:30.914Z,1629054150.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:30.965Z,1629054150.965 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:31.343Z,1629054151.343 [Micromodem](INFO): Nmea in: $SNTTA,0.056412,,,,190231.29*47

2021-08-15T19:02:31.380Z,1629054151.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 13.728435 deg, deltaT: 4.468875 s, approachRate: 0.026851 m/s, LOS rate: -1.122645 deg/s, posRepo size: 4
2021-08-15T19:02:33.840Z,1629054153.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:34.149Z,1629054154.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:34.149Z,1629054154.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:34.149Z,1629054154.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:34.150Z,1629054154.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:34.561Z,1629054154.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BA,000,004CE,18A,80,80,66,FF
2021-08-15T19:02:34.561Z,1629054154.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:34.561Z,1629054154.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:34.563Z,1629054154.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:34.964Z,1629054154.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:35.385Z,1629054155.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C2,000,004D3,18A,80,80,95,FF
2021-08-15T19:02:35.385Z,1629054155.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:35.414Z,1629054155.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:35.821Z,1629054155.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190235.71*54

2021-08-15T19:02:35.895Z,1629054155.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 13.595791 deg, deltaT: 4.449173 s, approachRate: 0.067430 m/s, LOS rate: -0.029813 deg/s, posRepo size: 4
2021-08-15T19:02:38.225Z,1629054158.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:38.601Z,1629054158.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:38.602Z,1629054158.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:38.602Z,1629054158.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:38.603Z,1629054158.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:38.989Z,1629054158.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C2,000,004D3,18A,80,80,95,FF
2021-08-15T19:02:38.989Z,1629054158.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:38.989Z,1629054158.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:38.991Z,1629054158.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:39.421Z,1629054159.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:39.846Z,1629054159.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,499,000,004D4,189,80,80,93,FF
2021-08-15T19:02:39.846Z,1629054159.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:39.906Z,1629054159.906 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:40.233Z,1629054160.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190240.14*55

2021-08-15T19:02:40.276Z,1629054160.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.660000 m, bearing: 15.282183 deg, deltaT: 4.492260 s, approachRate: 0.013356 m/s, LOS rate: 0.375399 deg/s, posRepo size: 4
2021-08-15T19:02:42.677Z,1629054162.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:43.037Z,1629054163.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:43.037Z,1629054163.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:43.037Z,1629054163.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:43.038Z,1629054163.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:43.449Z,1629054163.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
499,000,004D4,189,80,80,93,FF
2021-08-15T19:02:43.449Z,1629054163.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:43.449Z,1629054163.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:43.452Z,1629054163.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:43.854Z,1629054163.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:44.258Z,1629054164.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EA,000,004D8,18A,80,80,A2,FF
2021-08-15T19:02:44.258Z,1629054164.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:44.329Z,1629054164.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:44.693Z,1629054164.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190244.60*52

2021-08-15T19:02:44.739Z,1629054164.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 11.219554 deg, deltaT: 4.422767 s, approachRate: 0.054265 m/s, LOS rate: -0.918572 deg/s, posRepo size: 4
2021-08-15T19:02:47.142Z,1629054167.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:47.487Z,1629054167.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:47.487Z,1629054167.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:47.487Z,1629054167.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:47.489Z,1629054167.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:47.901Z,1629054167.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EA,000,004D8,18A,80,80,A2,FF
2021-08-15T19:02:47.901Z,1629054167.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:47.901Z,1629054167.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:47.903Z,1629054167.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:48.296Z,1629054168.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:48.706Z,1629054168.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45D,000,004DC,189,80,80,90,FF
2021-08-15T19:02:48.707Z,1629054168.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:48.726Z,1629054168.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:49.146Z,1629054169.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190249.05*5C

2021-08-15T19:02:49.205Z,1629054169.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.139999 m, bearing: 18.038666 deg, deltaT: 4.397082 s, approachRate: 0.054581 m/s, LOS rate: 1.550827 deg/s, posRepo size: 4
2021-08-15T19:02:51.547Z,1629054171.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:51.929Z,1629054171.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:51.929Z,1629054171.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:51.929Z,1629054171.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:51.930Z,1629054171.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:52.330Z,1629054172.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45D,000,004DC,189,80,80,90,FF
2021-08-15T19:02:52.330Z,1629054172.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:52.330Z,1629054172.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:52.332Z,1629054172.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:52.733Z,1629054172.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:53.141Z,1629054173.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,476,000,004DD,18A,80,80,64,FF
2021-08-15T19:02:53.142Z,1629054173.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:02:53.248Z,1629054173.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:02:53.569Z,1629054173.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190253.48*5E

2021-08-15T19:02:53.609Z,1629054173.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 16.725974 deg, deltaT: 4.521882 s, approachRate: 0.013269 m/s, LOS rate: -0.290298 deg/s, posRepo size: 4
2021-08-15T19:02:56.242Z,1629054176.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:02:56.393Z,1629054176.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:02:56.393Z,1629054176.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:02:56.393Z,1629054176.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:02:56.394Z,1629054176.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:02:56.785Z,1629054176.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
476,000,004DD,18A,80,80,64,FF
2021-08-15T19:02:56.785Z,1629054176.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:02:56.785Z,1629054176.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:02:56.787Z,1629054176.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:02:57.202Z,1629054177.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:02:58.011Z,1629054178.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190257.94*5B

2021-08-15T19:02:58.838Z,1629054178.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:00.413Z,1629054180.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,18A,80,80,64,FF
2021-08-15T19:03:00.413Z,1629054180.413 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,18A,80,80,64,FF
2021-08-15T19:03:00.413Z,1629054180.413 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:03:01.650Z,1629054181.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:02.029Z,1629054182.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:02.029Z,1629054182.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:02.029Z,1629054182.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:02.030Z,1629054182.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:02.429Z,1629054182.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,18A,80,80,64,FF
2021-08-15T19:03:02.429Z,1629054182.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:02.430Z,1629054182.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:02.431Z,1629054182.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:02.840Z,1629054182.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:03.245Z,1629054183.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C1,000,004E4,18A,80,80,7B,FF
2021-08-15T19:03:03.246Z,1629054183.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:03.299Z,1629054183.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:03.673Z,1629054183.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190303.58*5B

2021-08-15T19:03:03.710Z,1629054183.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 13.525795 deg, deltaT: 10.050536 s, approachRate: 0.041789 m/s, LOS rate: -0.318409 deg/s, posRepo size: 4
2021-08-15T19:03:06.142Z,1629054186.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:06.481Z,1629054186.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:06.481Z,1629054186.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:06.481Z,1629054186.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:06.482Z,1629054186.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:06.886Z,1629054186.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C1,000,004E4,18A,80,80,7B,FF
2021-08-15T19:03:06.886Z,1629054186.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:06.886Z,1629054186.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:06.888Z,1629054186.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:07.288Z,1629054187.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:07.693Z,1629054187.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D1,000,004E8,189,80,80,A1,FF
2021-08-15T19:03:07.693Z,1629054187.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:07.715Z,1629054187.715 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:08.141Z,1629054188.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190308.04*59

2021-08-15T19:03:08.227Z,1629054188.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 13.554166 deg, deltaT: 4.417625 s, approachRate: 0.054326 m/s, LOS rate: 0.006422 deg/s, posRepo size: 4
2021-08-15T19:03:10.538Z,1629054190.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:10.925Z,1629054190.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:10.926Z,1629054190.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:10.926Z,1629054190.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:10.927Z,1629054190.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:11.365Z,1629054191.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D1,000,004E8,189,80,80,A1,FF
2021-08-15T19:03:11.365Z,1629054191.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:11.366Z,1629054191.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:11.367Z,1629054191.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:11.743Z,1629054191.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:12.141Z,1629054192.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D4,000,004EC,189,80,80,B9,FF
2021-08-15T19:03:12.141Z,1629054192.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:12.220Z,1629054192.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:12.560Z,1629054192.560 [Micromodem](INFO): Nmea in: $SNTTA,0.039264,,,,190312.52*45

2021-08-15T19:03:12.601Z,1629054192.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 13.765502 deg, deltaT: 4.503940 s, approachRate: 0.053287 m/s, LOS rate: 0.046922 deg/s, posRepo size: 4
2021-08-15T19:03:14.979Z,1629054194.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:15.368Z,1629054195.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:15.369Z,1629054195.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:15.369Z,1629054195.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:15.370Z,1629054195.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:15.810Z,1629054195.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D4,000,004EC,189,80,80,B9,FF
2021-08-15T19:03:15.810Z,1629054195.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:15.810Z,1629054195.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:15.812Z,1629054195.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:16.185Z,1629054196.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:16.586Z,1629054196.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43B,000,004F5,18A,80,80,9B,FF
2021-08-15T19:03:16.586Z,1629054196.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:16.610Z,1629054196.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:16.999Z,1629054196.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190316.96*5D

2021-08-15T19:03:17.024Z,1629054197.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.639999 m, bearing: 22.170123 deg, deltaT: 4.390124 s, approachRate: 0.123004 m/s, LOS rate: 1.914438 deg/s, posRepo size: 4
2021-08-15T19:03:19.434Z,1629054199.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:19.873Z,1629054199.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:19.873Z,1629054199.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:19.873Z,1629054199.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:19.874Z,1629054199.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:20.245Z,1629054200.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43B,000,004F5,18A,80,80,9B,FF
2021-08-15T19:03:20.245Z,1629054200.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:20.245Z,1629054200.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:20.247Z,1629054200.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:20.664Z,1629054200.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:21.087Z,1629054201.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F4,000,004F8,189,80,80,A6,FF
2021-08-15T19:03:21.088Z,1629054201.088 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:21.117Z,1629054201.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:21.467Z,1629054201.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 13.432260 deg, deltaT: 4.506822 s, approachRate: 0.039940 m/s, LOS rate: -1.938808 deg/s, posRepo size: 4
2021-08-15T19:03:23.886Z,1629054203.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:24.261Z,1629054204.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:24.261Z,1629054204.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:24.261Z,1629054204.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:24.262Z,1629054204.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:24.661Z,1629054204.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F4,000,004F8,189,80,80,A6,FF
2021-08-15T19:03:24.661Z,1629054204.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:24.661Z,1629054204.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:24.663Z,1629054204.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:25.090Z,1629054205.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:25.465Z,1629054205.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,462,000,004FC,18A,80,80,A6,FF
2021-08-15T19:03:25.465Z,1629054205.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:25.511Z,1629054205.511 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:25.913Z,1629054205.913 [Micromodem](INFO): Nmea in: $SNTTA,0.449487,,,,190325.81*47

2021-08-15T19:03:25.968Z,1629054205.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 22.183659 deg, deltaT: 4.394634 s, approachRate: 0.054612 m/s, LOS rate: 1.991383 deg/s, posRepo size: 4
2021-08-15T19:03:28.344Z,1629054208.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:28.702Z,1629054208.702 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:28.702Z,1629054208.702 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:28.702Z,1629054208.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:28.703Z,1629054208.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:29.137Z,1629054209.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
462,000,004FC,18A,80,80,A6,FF
2021-08-15T19:03:29.137Z,1629054209.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:29.137Z,1629054209.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:29.139Z,1629054209.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:29.504Z,1629054209.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:29.921Z,1629054209.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A0,000,00502,189,80,80,A9,FF
2021-08-15T19:03:29.922Z,1629054209.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:29.925Z,1629054209.925 [Micromodem](INFO): Nmea in: $SNTTA,0.212316,0.212316,,,190330.29*5D

2021-08-15T19:03:29.987Z,1629054209.987 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:30.363Z,1629054210.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 19.586319 deg, deltaT: 4.475170 s, approachRate: 0.080443 m/s, LOS rate: -0.580389 deg/s, posRepo size: 4
2021-08-15T19:03:32.765Z,1629054212.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:33.221Z,1629054213.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:33.221Z,1629054213.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:33.221Z,1629054213.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:33.222Z,1629054213.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:33.641Z,1629054213.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A0,000,00502,189,80,80,A9,FF
2021-08-15T19:03:33.641Z,1629054213.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:33.641Z,1629054213.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:33.643Z,1629054213.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:33.996Z,1629054213.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:34.389Z,1629054214.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,0050A,18A,80,80,60,FF
2021-08-15T19:03:34.389Z,1629054214.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:34.408Z,1629054214.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:34.839Z,1629054214.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 26.066100 deg, deltaT: 4.421543 s, approachRate: 0.108560 m/s, LOS rate: 1.465502 deg/s, posRepo size: 4
2021-08-15T19:03:35.185Z,1629054215.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190334.79*5C

2021-08-15T19:03:37.232Z,1629054217.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:37.589Z,1629054217.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:37.589Z,1629054217.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:37.589Z,1629054217.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:37.590Z,1629054217.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:38.005Z,1629054218.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
434,000,0050A,18A,80,80,60,FF
2021-08-15T19:03:38.005Z,1629054218.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:38.006Z,1629054218.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:38.007Z,1629054218.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:38.405Z,1629054218.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:38.817Z,1629054218.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D6,000,0050D,189,80,80,88,FF
2021-08-15T19:03:38.818Z,1629054218.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:38.837Z,1629054218.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:03:39.245Z,1629054219.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190339.16*58

2021-08-15T19:03:39.288Z,1629054219.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 18.914226 deg, deltaT: 4.428405 s, approachRate: 0.040647 m/s, LOS rate: -1.615000 deg/s, posRepo size: 4
2021-08-15T19:03:39.657Z,1629054219.657 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:03:39.657Z,1629054219.657 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:03:39.658Z,1629054219.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:03:39.658Z,1629054219.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:03:39.658Z,1629054219.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:03:39.658Z,1629054219.658 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:03:40.123Z,1629054220.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:03:40.123Z,1629054220.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:03:40.123Z,1629054220.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:03:40.123Z,1629054220.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:03:41.650Z,1629054221.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:42.042Z,1629054222.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:42.042Z,1629054222.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:42.042Z,1629054222.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:42.042Z,1629054222.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:42.445Z,1629054222.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D6,000,0050D,189,80,80,88,FF
2021-08-15T19:03:42.445Z,1629054222.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:42.445Z,1629054222.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:42.447Z,1629054222.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:42.851Z,1629054222.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:43.253Z,1629054223.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C5,000,00513,188,80,80,83,FF
2021-08-15T19:03:43.254Z,1629054223.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:43.694Z,1629054223.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190343.60*54

2021-08-15T19:03:43.772Z,1629054223.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.439999 m, bearing: 20.531509 deg, deltaT: 4.474159 s, approachRate: 0.080461 m/s, LOS rate: 0.361472 deg/s, posRepo size: 4
2021-08-15T19:03:46.191Z,1629054226.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:46.545Z,1629054226.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:46.545Z,1629054226.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:46.545Z,1629054226.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:46.546Z,1629054226.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:47.000Z,1629054227.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C5,000,00513,188,80,80,83,FF
2021-08-15T19:03:47.001Z,1629054227.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:47.001Z,1629054227.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:47.002Z,1629054227.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:47.324Z,1629054227.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:47.718Z,1629054227.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0051B,185,80,80,80,FF
2021-08-15T19:03:47.719Z,1629054227.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:48.175Z,1629054228.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190348.15*5D

2021-08-15T19:03:48.244Z,1629054228.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 84.517505 deg, deltaT: 4.506233 s, approachRate: 0.106520 m/s, LOS rate: 14.199442 deg/s, posRepo size: 4
2021-08-15T19:03:50.534Z,1629054230.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:50.930Z,1629054230.930 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:50.930Z,1629054230.930 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:50.930Z,1629054230.930 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:50.931Z,1629054230.931 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:51.358Z,1629054231.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0051B,185,80,80,80,FF
2021-08-15T19:03:51.358Z,1629054231.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:51.358Z,1629054231.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:51.361Z,1629054231.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:51.745Z,1629054231.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:52.157Z,1629054232.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,0051F,186,80,80,63,FF
2021-08-15T19:03:52.157Z,1629054232.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:52.567Z,1629054232.567 [Micromodem](INFO): Nmea in: $SNTTA,0.070866,,,,190352.51*47

2021-08-15T19:03:52.627Z,1629054232.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 85.724987 deg, deltaT: 4.414337 s, approachRate: 0.054367 m/s, LOS rate: 0.273536 deg/s, posRepo size: 4
2021-08-15T19:03:54.990Z,1629054234.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:55.385Z,1629054235.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:55.385Z,1629054235.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:55.385Z,1629054235.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:55.386Z,1629054235.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:03:55.806Z,1629054235.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,0051F,186,80,80,63,FF
2021-08-15T19:03:55.806Z,1629054235.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:03:55.807Z,1629054235.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:03:55.809Z,1629054235.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:03:56.188Z,1629054236.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:03:56.586Z,1629054236.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00524,183,80,80,7A,FF
2021-08-15T19:03:56.586Z,1629054236.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:03:57.011Z,1629054237.011 [Micromodem](INFO): Nmea in: $SNTTA,0.045925,,,,190356.96*48

2021-08-15T19:03:57.043Z,1629054237.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 85.314445 deg, deltaT: 4.372757 s, approachRate: 0.068607 m/s, LOS rate: -0.093886 deg/s, posRepo size: 4
2021-08-15T19:03:59.436Z,1629054239.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:03:59.833Z,1629054239.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:03:59.833Z,1629054239.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:03:59.833Z,1629054239.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:03:59.834Z,1629054239.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:00.221Z,1629054240.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00524,183,80,80,7A,FF
2021-08-15T19:04:00.221Z,1629054240.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:00.221Z,1629054240.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:00.223Z,1629054240.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:00.747Z,1629054240.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:01.041Z,1629054241.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00528,185,80,80,77,FF
2021-08-15T19:04:01.042Z,1629054241.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:01.485Z,1629054241.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190401.37*57

2021-08-15T19:04:01.535Z,1629054241.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 87.928133 deg, deltaT: 4.498680 s, approachRate: 0.053349 m/s, LOS rate: 0.580990 deg/s, posRepo size: 4
2021-08-15T19:04:03.890Z,1629054243.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:04.257Z,1629054244.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:04.257Z,1629054244.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:04.257Z,1629054244.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:04.258Z,1629054244.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:04.657Z,1629054244.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00528,185,80,80,77,FF
2021-08-15T19:04:04.657Z,1629054244.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:04.657Z,1629054244.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:04.659Z,1629054244.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:05.092Z,1629054245.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:05.473Z,1629054245.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,0052E,184,80,80,77,FF
2021-08-15T19:04:05.473Z,1629054245.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:05.901Z,1629054245.901 [Micromodem](INFO): Nmea in: $SNTTA,0.051186,0.491233,,,190405.81*5B

2021-08-15T19:04:05.947Z,1629054245.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 89.562932 deg, deltaT: 4.389815 s, approachRate: 0.082008 m/s, LOS rate: 0.372407 deg/s, posRepo size: 4
2021-08-15T19:04:08.342Z,1629054248.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:08.693Z,1629054248.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:08.693Z,1629054248.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:08.693Z,1629054248.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:08.694Z,1629054248.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:09.133Z,1629054249.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,0052E,184,80,80,77,FF
2021-08-15T19:04:09.133Z,1629054249.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:09.133Z,1629054249.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:09.135Z,1629054249.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:09.512Z,1629054249.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:09.909Z,1629054249.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00532,183,80,80,74,FF
2021-08-15T19:04:09.910Z,1629054249.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:10.339Z,1629054250.339 [Micromodem](INFO): Nmea in: $SNTTA,0.253279,,,,190410.28*4F

2021-08-15T19:04:10.393Z,1629054250.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 89.125274 deg, deltaT: 4.478701 s, approachRate: 0.053586 m/s, LOS rate: -0.097720 deg/s, posRepo size: 4
2021-08-15T19:04:12.754Z,1629054252.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:13.141Z,1629054253.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:13.141Z,1629054253.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:13.141Z,1629054253.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:13.142Z,1629054253.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:13.550Z,1629054253.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00532,183,80,80,74,FF
2021-08-15T19:04:13.550Z,1629054253.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:13.550Z,1629054253.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:13.551Z,1629054253.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:14.093Z,1629054254.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:14.397Z,1629054254.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00537,183,80,80,90,FF
2021-08-15T19:04:14.398Z,1629054254.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:14.817Z,1629054254.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190414.70*50

2021-08-15T19:04:14.840Z,1629054254.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 88.880733 deg, deltaT: 4.456944 s, approachRate: 0.067311 m/s, LOS rate: -0.054867 deg/s, posRepo size: 4
2021-08-15T19:04:17.240Z,1629054257.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:17.589Z,1629054257.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:17.590Z,1629054257.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:17.590Z,1629054257.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:17.591Z,1629054257.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:17.996Z,1629054257.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00537,183,80,80,90,FF
2021-08-15T19:04:17.996Z,1629054257.996 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:17.997Z,1629054257.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:17.998Z,1629054257.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:18.401Z,1629054258.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:18.797Z,1629054258.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,0053B,185,80,80,94,FF
2021-08-15T19:04:18.798Z,1629054258.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:19.229Z,1629054259.229 [Micromodem](INFO): Nmea in: $SNTTA,0.043491,,,,190419.15*4B

2021-08-15T19:04:19.275Z,1629054259.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 90.680043 deg, deltaT: 4.388216 s, approachRate: 0.054692 m/s, LOS rate: 0.410032 deg/s, posRepo size: 4
2021-08-15T19:04:21.642Z,1629054261.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:22.036Z,1629054262.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:22.036Z,1629054262.036 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:22.036Z,1629054262.036 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:22.037Z,1629054262.037 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:22.445Z,1629054262.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,0053B,185,80,80,94,FF
2021-08-15T19:04:22.445Z,1629054262.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:22.445Z,1629054262.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:22.447Z,1629054262.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:22.840Z,1629054262.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:23.245Z,1629054263.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00544,185,80,80,69,FF
2021-08-15T19:04:23.245Z,1629054263.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:23.685Z,1629054263.685 [Micromodem](INFO): Nmea in: $SNTTA,0.040525,,,,190423.60*4D

2021-08-15T19:04:23.761Z,1629054263.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 92.970329 deg, deltaT: 4.481991 s, approachRate: 0.120482 m/s, LOS rate: 0.510997 deg/s, posRepo size: 4
2021-08-15T19:04:26.160Z,1629054266.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:26.473Z,1629054266.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:26.473Z,1629054266.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:26.473Z,1629054266.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:26.474Z,1629054266.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:26.885Z,1629054266.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00544,185,80,80,69,FF
2021-08-15T19:04:26.885Z,1629054266.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:26.885Z,1629054266.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:26.886Z,1629054266.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:27.369Z,1629054267.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:27.841Z,1629054267.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00543,184,80,80,6D,FF
2021-08-15T19:04:27.842Z,1629054267.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:28.173Z,1629054268.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190428.04*5C

2021-08-15T19:04:28.210Z,1629054268.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.319996 m, bearing: 87.787513 deg, deltaT: 4.624300 s, approachRate: -0.012976 m/s, LOS rate: -1.120778 deg/s, posRepo size: 4
2021-08-15T19:04:30.530Z,1629054270.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:30.925Z,1629054270.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:30.925Z,1629054270.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:30.925Z,1629054270.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:30.926Z,1629054270.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:31.326Z,1629054271.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00543,184,80,80,6D,FF
2021-08-15T19:04:31.326Z,1629054271.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:31.326Z,1629054271.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:31.328Z,1629054271.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:31.744Z,1629054271.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:32.142Z,1629054272.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00544,184,80,80,80,FF
2021-08-15T19:04:32.142Z,1629054272.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:32.577Z,1629054272.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190432.48*5F

2021-08-15T19:04:32.619Z,1629054272.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 89.053434 deg, deltaT: 4.288921 s, approachRate: 0.013991 m/s, LOS rate: 0.295161 deg/s, posRepo size: 4
2021-08-15T19:04:34.986Z,1629054274.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:35.381Z,1629054275.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:35.381Z,1629054275.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:35.381Z,1629054275.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:35.382Z,1629054275.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:35.801Z,1629054275.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00544,184,80,80,80,FF
2021-08-15T19:04:35.801Z,1629054275.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:35.801Z,1629054275.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:35.803Z,1629054275.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:36.165Z,1629054276.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:36.581Z,1629054276.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00550,183,80,80,64,FF
2021-08-15T19:04:36.582Z,1629054276.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:37.001Z,1629054277.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190436.95*5B

2021-08-15T19:04:37.023Z,1629054277.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 91.641850 deg, deltaT: 4.388329 s, approachRate: 0.164072 m/s, LOS rate: 0.589841 deg/s, posRepo size: 4
2021-08-15T19:04:39.425Z,1629054279.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:39.837Z,1629054279.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:39.837Z,1629054279.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:39.837Z,1629054279.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:39.838Z,1629054279.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:40.213Z,1629054280.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00550,183,80,80,64,FF
2021-08-15T19:04:40.213Z,1629054280.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:40.213Z,1629054280.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:40.215Z,1629054280.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:40.695Z,1629054280.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:41.141Z,1629054281.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,0054D,186,80,80,74,FF
2021-08-15T19:04:41.141Z,1629054281.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:41.513Z,1629054281.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190441.36*52

2021-08-15T19:04:41.544Z,1629054281.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 87.613418 deg, deltaT: 4.690093 s, approachRate: -0.038379 m/s, LOS rate: -0.858924 deg/s, posRepo size: 4
2021-08-15T19:04:43.902Z,1629054283.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:44.245Z,1629054284.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:44.245Z,1629054284.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:44.245Z,1629054284.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:44.246Z,1629054284.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:44.662Z,1629054284.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,0054D,186,80,80,74,FF
2021-08-15T19:04:44.662Z,1629054284.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:44.662Z,1629054284.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:44.669Z,1629054284.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:45.075Z,1629054285.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:45.457Z,1629054285.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00558,185,80,80,5F,FF
2021-08-15T19:04:45.458Z,1629054285.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:45.887Z,1629054285.887 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190445.86*5D

2021-08-15T19:04:46.000Z,1629054286.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.579998 m, bearing: 94.129234 deg, deltaT: 4.198576 s, approachRate: 0.157195 m/s, LOS rate: 1.551911 deg/s, posRepo size: 4
2021-08-15T19:04:48.358Z,1629054288.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:48.697Z,1629054288.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:48.697Z,1629054288.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:48.698Z,1629054288.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:48.699Z,1629054288.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:49.129Z,1629054289.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00558,185,80,80,5F,FF
2021-08-15T19:04:49.129Z,1629054289.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:49.129Z,1629054289.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:49.131Z,1629054289.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:49.500Z,1629054289.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:49.906Z,1629054289.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06B,000,00557,187,80,80,67,FF
2021-08-15T19:04:49.906Z,1629054289.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:50.327Z,1629054290.327 [Micromodem](INFO): Nmea in: $SNTTA,0.062755,,,,190450.28*40

2021-08-15T19:04:50.417Z,1629054290.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 87.851300 deg, deltaT: 4.471607 s, approachRate: -0.013417 m/s, LOS rate: -1.403955 deg/s, posRepo size: 4
2021-08-15T19:04:52.746Z,1629054292.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:53.141Z,1629054293.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:53.141Z,1629054293.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:53.141Z,1629054293.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:53.142Z,1629054293.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:53.541Z,1629054293.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06B,000,00557,187,80,80,67,FF
2021-08-15T19:04:53.541Z,1629054293.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:53.541Z,1629054293.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:53.543Z,1629054293.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:53.948Z,1629054293.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:54.434Z,1629054294.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,0055E,187,80,80,5C,FF
2021-08-15T19:04:54.435Z,1629054294.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:54.886Z,1629054294.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190454.70*54

2021-08-15T19:04:54.937Z,1629054294.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 87.782629 deg, deltaT: 4.557408 s, approachRate: 0.092158 m/s, LOS rate: -0.015068 deg/s, posRepo size: 4
2021-08-15T19:04:57.220Z,1629054297.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:04:57.577Z,1629054297.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:04:57.577Z,1629054297.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:04:57.577Z,1629054297.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:04:57.578Z,1629054297.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:04:57.989Z,1629054297.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,0055E,187,80,80,5C,FF
2021-08-15T19:04:57.989Z,1629054297.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:04:57.989Z,1629054297.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:04:57.991Z,1629054297.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:04:58.401Z,1629054298.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:04:58.789Z,1629054298.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00560,184,80,80,83,FF
2021-08-15T19:04:58.790Z,1629054298.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:04:59.229Z,1629054299.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190459.14*5B

2021-08-15T19:04:59.266Z,1629054299.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 90.859404 deg, deltaT: 4.291474 s, approachRate: 0.027961 m/s, LOS rate: 0.716951 deg/s, posRepo size: 4
2021-08-15T19:05:01.638Z,1629054301.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:02.021Z,1629054302.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:02.021Z,1629054302.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:02.021Z,1629054302.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:02.022Z,1629054302.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:02.444Z,1629054302.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00560,184,80,80,83,FF
2021-08-15T19:05:02.444Z,1629054302.444 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:02.445Z,1629054302.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:02.446Z,1629054302.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:02.840Z,1629054302.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:03.238Z,1629054303.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00565,183,80,80,6A,FF
2021-08-15T19:05:03.238Z,1629054303.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:03.669Z,1629054303.669 [Micromodem](INFO): Nmea in: $SNTTA,0.045442,,,,190503.60*4B

2021-08-15T19:05:03.716Z,1629054303.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 92.646011 deg, deltaT: 4.458215 s, approachRate: 0.067292 m/s, LOS rate: 0.400745 deg/s, posRepo size: 4
2021-08-15T19:05:06.139Z,1629054306.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:06.485Z,1629054306.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:06.485Z,1629054306.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:06.485Z,1629054306.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:06.486Z,1629054306.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:06.869Z,1629054306.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00565,183,80,80,6A,FF
2021-08-15T19:05:06.869Z,1629054306.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:06.869Z,1629054306.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:06.874Z,1629054306.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:07.289Z,1629054307.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:07.761Z,1629054307.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,00569,184,80,80,77,FF
2021-08-15T19:05:07.762Z,1629054307.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:08.149Z,1629054308.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190508.03*58

2021-08-15T19:05:08.206Z,1629054308.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 89.909619 deg, deltaT: 4.559416 s, approachRate: 0.052638 m/s, LOS rate: -0.600163 deg/s, posRepo size: 4
2021-08-15T19:05:10.531Z,1629054310.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:10.925Z,1629054310.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:10.925Z,1629054310.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:10.925Z,1629054310.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:10.926Z,1629054310.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:11.322Z,1629054311.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,00569,184,80,80,77,FF
2021-08-15T19:05:11.322Z,1629054311.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:11.322Z,1629054311.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:11.368Z,1629054311.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:11.470Z,1629054311.470 [CTD_Seabird](ERROR): Failed to parse device response: 6.02,24.348.10
2021-08-15T19:05:11.748Z,1629054311.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:12.137Z,1629054312.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,0056E,183,80,80,8E,FF
2021-08-15T19:05:12.137Z,1629054312.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:12.567Z,1629054312.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.899998 m, bearing: 91.312860 deg, deltaT: 4.382041 s, approachRate: 0.068461 m/s, LOS rate: 0.320226 deg/s, posRepo size: 4
2021-08-15T19:05:12.951Z,1629054312.951 [Micromodem](INFO): Nmea in: $SNTTA,0.046345,,,,190512.61*49

2021-08-15T19:05:14.978Z,1629054314.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:15.377Z,1629054315.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:15.377Z,1629054315.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:15.377Z,1629054315.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:15.378Z,1629054315.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:15.797Z,1629054315.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,0056E,183,80,80,8E,FF
2021-08-15T19:05:15.798Z,1629054315.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:15.798Z,1629054315.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:15.800Z,1629054315.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:16.180Z,1629054316.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:16.581Z,1629054316.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,019,000,00574,183,80,80,97,FF
2021-08-15T19:05:16.582Z,1629054316.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:17.009Z,1629054317.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190516.95*58

2021-08-15T19:05:17.065Z,1629054317.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 90.983413 deg, deltaT: 4.390654 s, approachRate: 0.081992 m/s, LOS rate: -0.075034 deg/s, posRepo size: 4
2021-08-15T19:05:19.443Z,1629054319.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:19.841Z,1629054319.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:19.841Z,1629054319.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:19.841Z,1629054319.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:19.842Z,1629054319.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:20.221Z,1629054320.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
019,000,00574,183,80,80,97,FF
2021-08-15T19:05:20.221Z,1629054320.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:20.221Z,1629054320.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:20.223Z,1629054320.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:20.620Z,1629054320.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:21.105Z,1629054321.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,0057E,186,80,80,51,FF
2021-08-15T19:05:21.106Z,1629054321.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:21.505Z,1629054321.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190521.37*54

2021-08-15T19:05:21.536Z,1629054321.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 100.623815 deg, deltaT: 4.581267 s, approachRate: 0.130969 m/s, LOS rate: 2.104309 deg/s, posRepo size: 4
2021-08-15T19:05:23.882Z,1629054323.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:24.245Z,1629054324.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:24.245Z,1629054324.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:24.245Z,1629054324.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:24.246Z,1629054324.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:24.657Z,1629054324.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,0057E,186,80,80,51,FF
2021-08-15T19:05:24.657Z,1629054324.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:24.657Z,1629054324.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:24.659Z,1629054324.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:25.092Z,1629054325.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:25.464Z,1629054325.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,0057F,185,80,80,48,FF
2021-08-15T19:05:25.465Z,1629054325.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:25.905Z,1629054325.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190525.81*5D

2021-08-15T19:05:25.964Z,1629054325.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 96.362713 deg, deltaT: 4.306766 s, approachRate: 0.013930 m/s, LOS rate: -0.989397 deg/s, posRepo size: 4
2021-08-15T19:05:28.321Z,1629054328.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:28.705Z,1629054328.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:28.705Z,1629054328.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:28.705Z,1629054328.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:28.706Z,1629054328.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:29.129Z,1629054329.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,0057F,185,80,80,48,FF
2021-08-15T19:05:29.129Z,1629054329.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:29.129Z,1629054329.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:29.131Z,1629054329.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:29.520Z,1629054329.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:29.914Z,1629054329.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00585,183,80,80,8E,FF
2021-08-15T19:05:29.914Z,1629054329.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:30.354Z,1629054330.354 [Micromodem](INFO): Nmea in: $SNTTA,0.043252,,,,190530.28*46

2021-08-15T19:05:30.400Z,1629054330.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 92.340401 deg, deltaT: 4.488313 s, approachRate: 0.080210 m/s, LOS rate: -0.896175 deg/s, posRepo size: 4
2021-08-15T19:05:32.762Z,1629054332.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:33.145Z,1629054333.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:33.145Z,1629054333.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:33.145Z,1629054333.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:33.146Z,1629054333.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:33.565Z,1629054333.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00585,183,80,80,8E,FF
2021-08-15T19:05:33.565Z,1629054333.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:33.566Z,1629054333.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:33.567Z,1629054333.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:33.958Z,1629054333.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:34.433Z,1629054334.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,0058A,184,80,80,71,FF
2021-08-15T19:05:34.433Z,1629054334.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:34.805Z,1629054334.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190534.72*51

2021-08-15T19:05:34.846Z,1629054334.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.579998 m, bearing: 92.774309 deg, deltaT: 4.534577 s, approachRate: 0.066157 m/s, LOS rate: 0.095689 deg/s, posRepo size: 4
2021-08-15T19:05:37.224Z,1629054337.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:37.601Z,1629054337.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:37.601Z,1629054337.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:37.601Z,1629054337.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:37.602Z,1629054337.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:37.986Z,1629054337.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,0058A,184,80,80,71,FF
2021-08-15T19:05:37.986Z,1629054337.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:37.986Z,1629054337.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:37.988Z,1629054337.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:38.418Z,1629054338.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:38.793Z,1629054338.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,00591,185,80,80,6A,FF
2021-08-15T19:05:38.794Z,1629054338.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:39.229Z,1629054339.229 [Micromodem](INFO): Nmea in: $SNTTA,0.071095,,,,190539.14*48

2021-08-15T19:05:39.271Z,1629054339.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 90.131190 deg, deltaT: 4.302110 s, approachRate: 0.097626 m/s, LOS rate: -0.614377 deg/s, posRepo size: 4
2021-08-15T19:05:41.664Z,1629054341.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:42.025Z,1629054342.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:42.025Z,1629054342.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:42.025Z,1629054342.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:42.026Z,1629054342.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:42.442Z,1629054342.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,00591,185,80,80,6A,FF
2021-08-15T19:05:42.442Z,1629054342.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:42.442Z,1629054342.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:42.445Z,1629054342.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:42.845Z,1629054342.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:43.242Z,1629054343.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00596,185,80,80,52,FF
2021-08-15T19:05:43.242Z,1629054343.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:43.672Z,1629054343.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 95.386194 deg, deltaT: 4.502958 s, approachRate: 0.066624 m/s, LOS rate: 1.167012 deg/s, posRepo size: 4
2021-08-15T19:05:46.158Z,1629054346.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:46.510Z,1629054346.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:46.510Z,1629054346.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:46.510Z,1629054346.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:46.511Z,1629054346.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:46.878Z,1629054346.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00596,185,80,80,52,FF
2021-08-15T19:05:46.878Z,1629054346.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:46.878Z,1629054346.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:46.879Z,1629054346.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:47.285Z,1629054347.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:47.757Z,1629054347.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00597,184,80,80,66,FF
2021-08-15T19:05:47.758Z,1629054347.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:48.158Z,1629054348.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190548.03*5C

2021-08-15T19:05:48.211Z,1629054348.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 88.375647 deg, deltaT: 4.526924 s, approachRate: 0.013254 m/s, LOS rate: -1.548634 deg/s, posRepo size: 4
2021-08-15T19:05:50.553Z,1629054350.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:50.925Z,1629054350.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:50.925Z,1629054350.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:50.925Z,1629054350.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:50.926Z,1629054350.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:51.325Z,1629054351.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00597,184,80,80,66,FF
2021-08-15T19:05:51.325Z,1629054351.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:51.325Z,1629054351.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:51.332Z,1629054351.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:51.725Z,1629054351.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:52.133Z,1629054352.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A1,18A,80,80,5B,FF
2021-08-15T19:05:52.134Z,1629054352.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:52.562Z,1629054352.562 [Micromodem](INFO): Nmea in: $SNTTA,0.061361,,,,190552.48*45

2021-08-15T19:05:52.577Z,1629054352.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.960003 m, bearing: 27.314138 deg, deltaT: 4.393100 s, approachRate: 0.136577 m/s, LOS rate: -13.899413 deg/s, posRepo size: 4
2021-08-15T19:05:54.978Z,1629054354.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:55.365Z,1629054355.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:55.365Z,1629054355.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:55.365Z,1629054355.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:55.366Z,1629054355.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:05:55.784Z,1629054355.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A1,18A,80,80,5B,FF
2021-08-15T19:05:55.785Z,1629054355.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:05:55.785Z,1629054355.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:05:55.791Z,1629054355.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:05:56.323Z,1629054356.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:05:56.705Z,1629054356.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,005A7,189,80,80,7F,FF
2021-08-15T19:05:56.706Z,1629054356.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:05:57.141Z,1629054357.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190556.95*5C

2021-08-15T19:05:57.187Z,1629054357.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 30.639621 deg, deltaT: 4.518187 s, approachRate: 0.079677 m/s, LOS rate: 0.736021 deg/s, posRepo size: 4
2021-08-15T19:05:59.574Z,1629054359.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:05:59.937Z,1629054359.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:05:59.937Z,1629054359.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:05:59.937Z,1629054359.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:05:59.938Z,1629054359.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:00.334Z,1629054360.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,005A7,189,80,80,7F,FF
2021-08-15T19:06:00.334Z,1629054360.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:00.334Z,1629054360.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:00.337Z,1629054360.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:00.744Z,1629054360.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:01.224Z,1629054361.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A3,000,005AA,189,80,80,92,FF
2021-08-15T19:06:01.225Z,1629054361.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:01.611Z,1629054361.611 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190601.49*5C

2021-08-15T19:06:01.647Z,1629054361.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.500000 m, bearing: 30.822123 deg, deltaT: 4.500031 s, approachRate: 0.040000 m/s, LOS rate: 0.040556 deg/s, posRepo size: 4
2021-08-15T19:06:04.032Z,1629054364.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:04.382Z,1629054364.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:04.382Z,1629054364.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:04.383Z,1629054364.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:04.383Z,1629054364.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:04.781Z,1629054364.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A3,000,005AA,189,80,80,92,FF
2021-08-15T19:06:04.781Z,1629054364.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:04.781Z,1629054364.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:04.783Z,1629054364.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:05.185Z,1629054365.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:05.590Z,1629054365.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AF,189,80,80,52,FF
2021-08-15T19:06:05.590Z,1629054365.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:06.028Z,1629054366.028 [Micromodem](INFO): Nmea in: $SNTTA,0.056304,,,,190605.94*42

2021-08-15T19:06:06.121Z,1629054366.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 25.931541 deg, deltaT: 4.359665 s, approachRate: 0.068813 m/s, LOS rate: -1.121779 deg/s, posRepo size: 4
2021-08-15T19:06:08.115Z,1629054368.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:08.417Z,1629054368.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:08.417Z,1629054368.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:08.417Z,1629054368.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:08.418Z,1629054368.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:08.822Z,1629054368.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AF,189,80,80,52,FF
2021-08-15T19:06:08.822Z,1629054368.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:08.822Z,1629054368.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:08.823Z,1629054368.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:09.228Z,1629054369.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:09.629Z,1629054369.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A0,000,005B4,189,80,80,62,FF
2021-08-15T19:06:09.629Z,1629054369.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:10.102Z,1629054370.102 [Micromodem](INFO): Nmea in: $SNTTA,0.061660,,,,190609.98*41

2021-08-15T19:06:10.163Z,1629054370.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 30.943598 deg, deltaT: 4.034534 s, approachRate: 0.074357 m/s, LOS rate: 1.242289 deg/s, posRepo size: 4
2021-08-15T19:06:12.150Z,1629054372.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:12.453Z,1629054372.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:12.453Z,1629054372.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:12.454Z,1629054372.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:12.455Z,1629054372.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:12.861Z,1629054372.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A0,000,005B4,189,80,80,62,FF
2021-08-15T19:06:12.862Z,1629054372.862 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:12.862Z,1629054372.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:12.864Z,1629054372.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:13.264Z,1629054373.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:13.665Z,1629054373.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A7,000,005BD,18A,80,80,90,FF
2021-08-15T19:06:13.666Z,1629054373.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:14.133Z,1629054374.133 [Micromodem](INFO): Nmea in: $SNTTA,0.058103,,,,190614.02*46

2021-08-15T19:06:14.231Z,1629054374.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.639996 m, bearing: 30.846480 deg, deltaT: 4.036427 s, approachRate: 0.133781 m/s, LOS rate: -0.024061 deg/s, posRepo size: 4
2021-08-15T19:06:16.187Z,1629054376.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:16.586Z,1629054376.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:16.586Z,1629054376.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:16.587Z,1629054376.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:16.588Z,1629054376.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:16.913Z,1629054376.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A7,000,005BD,18A,80,80,90,FF
2021-08-15T19:06:16.913Z,1629054376.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:16.914Z,1629054376.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:16.915Z,1629054376.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:17.326Z,1629054377.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:17.745Z,1629054377.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E7,000,005BB,189,80,80,A7,FF
2021-08-15T19:06:17.747Z,1629054377.747 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:18.154Z,1629054378.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190618.07*5E

2021-08-15T19:06:18.225Z,1629054378.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 28.261072 deg, deltaT: 4.141271 s, approachRate: -0.028975 m/s, LOS rate: -0.624303 deg/s, posRepo size: 4
2021-08-15T19:06:20.566Z,1629054380.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:20.957Z,1629054380.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:20.957Z,1629054380.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:20.957Z,1629054380.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:20.958Z,1629054380.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:21.342Z,1629054381.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E7,000,005BB,189,80,80,A7,FF
2021-08-15T19:06:21.342Z,1629054381.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:21.342Z,1629054381.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:21.345Z,1629054381.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:21.779Z,1629054381.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:22.149Z,1629054382.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005BF,189,80,80,43,FF
2021-08-15T19:06:22.149Z,1629054382.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:22.153Z,1629054382.153 [Micromodem](INFO): Nmea in: $SNTTA,0.147716,0.147516,,,190622.50*57

2021-08-15T19:06:22.591Z,1629054382.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 27.470780 deg, deltaT: 4.354720 s, approachRate: 0.055113 m/s, LOS rate: -0.181479 deg/s, posRepo size: 4
2021-08-15T19:06:25.130Z,1629054385.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:25.389Z,1629054385.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:25.389Z,1629054385.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:25.389Z,1629054385.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:25.390Z,1629054385.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:25.836Z,1629054385.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005BF,189,80,80,43,FF
2021-08-15T19:06:25.837Z,1629054385.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:25.837Z,1629054385.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:25.838Z,1629054385.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:26.208Z,1629054386.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:26.605Z,1629054386.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B9,000,005C5,189,80,80,9E,FF
2021-08-15T19:06:26.606Z,1629054386.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:27.028Z,1629054387.028 [Micromodem](INFO): Nmea in: $SNTTA,0.063150,,,,190626.99*4B

2021-08-15T19:06:27.098Z,1629054387.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 31.355134 deg, deltaT: 4.465433 s, approachRate: 0.080619 m/s, LOS rate: 0.869872 deg/s, posRepo size: 4
2021-08-15T19:06:29.472Z,1629054389.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:29.913Z,1629054389.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:29.913Z,1629054389.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:29.913Z,1629054389.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:29.914Z,1629054389.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:30.261Z,1629054390.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B9,000,005C5,189,80,80,9E,FF
2021-08-15T19:06:30.261Z,1629054390.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:30.261Z,1629054390.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:30.263Z,1629054390.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:30.661Z,1629054390.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:31.088Z,1629054391.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CB,18A,80,80,88,FF
2021-08-15T19:06:31.088Z,1629054391.088 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:31.485Z,1629054391.485 [Micromodem](INFO): Nmea in: $SNTTA,0.050036,,,,190631.42*4A

2021-08-15T19:06:31.519Z,1629054391.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 27.673012 deg, deltaT: 4.496228 s, approachRate: 0.080066 m/s, LOS rate: -0.818936 deg/s, posRepo size: 4
2021-08-15T19:06:33.914Z,1629054393.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:34.293Z,1629054394.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:34.293Z,1629054394.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:34.293Z,1629054394.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:34.294Z,1629054394.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:34.693Z,1629054394.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CB,18A,80,80,88,FF
2021-08-15T19:06:34.693Z,1629054394.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:34.693Z,1629054394.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:34.695Z,1629054394.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:35.128Z,1629054395.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:35.493Z,1629054395.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47E,000,005CD,189,80,80,98,FF
2021-08-15T19:06:35.494Z,1629054395.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:35.925Z,1629054395.925 [Micromodem](INFO): Nmea in: $SNTTA,,0.471226,,,190635.85*41

2021-08-15T19:06:35.988Z,1629054395.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 34.165644 deg, deltaT: 4.369668 s, approachRate: 0.027464 m/s, LOS rate: 1.485841 deg/s, posRepo size: 4
2021-08-15T19:06:38.382Z,1629054398.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:38.725Z,1629054398.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:38.725Z,1629054398.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:38.725Z,1629054398.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:38.726Z,1629054398.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:39.138Z,1629054399.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47E,000,005CD,189,80,80,98,FF
2021-08-15T19:06:39.138Z,1629054399.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:39.138Z,1629054399.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:39.139Z,1629054399.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:39.536Z,1629054399.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:39.941Z,1629054399.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AA,000,005D5,189,80,80,A3,FF
2021-08-15T19:06:39.942Z,1629054399.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:40.377Z,1629054400.377 [Micromodem](INFO): Nmea in: $SNTTA,0.126731,,,,190640.30*49

2021-08-15T19:06:40.414Z,1629054400.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 31.013358 deg, deltaT: 4.528132 s, approachRate: 0.106002 m/s, LOS rate: -0.696156 deg/s, posRepo size: 4
2021-08-15T19:06:42.814Z,1629054402.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:43.169Z,1629054403.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:43.169Z,1629054403.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:43.169Z,1629054403.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:43.170Z,1629054403.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:43.641Z,1629054403.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AA,000,005D5,189,80,80,A3,FF
2021-08-15T19:06:43.641Z,1629054403.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:43.641Z,1629054403.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:43.643Z,1629054403.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:43.989Z,1629054403.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:44.393Z,1629054404.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DD,18A,80,80,A9,FF
2021-08-15T19:06:44.394Z,1629054404.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:44.843Z,1629054404.843 [Micromodem](INFO): Nmea in: $SNTTA,0.066601,,,,190644.80*41

2021-08-15T19:06:44.919Z,1629054404.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.559998 m, bearing: 25.585952 deg, deltaT: 4.418743 s, approachRate: 0.108629 m/s, LOS rate: -1.228269 deg/s, posRepo size: 4
2021-08-15T19:06:47.258Z,1629054407.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:47.617Z,1629054407.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:47.617Z,1629054407.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:47.617Z,1629054407.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:47.618Z,1629054407.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:48.027Z,1629054408.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DD,18A,80,80,A9,FF
2021-08-15T19:06:48.027Z,1629054408.027 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:48.028Z,1629054408.028 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:48.032Z,1629054408.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:48.433Z,1629054408.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:48.833Z,1629054408.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DF,189,80,80,7C,FF
2021-08-15T19:06:48.834Z,1629054408.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:49.265Z,1629054409.265 [Micromodem](INFO): Nmea in: $SNTTA,0.047205,,,,190649.18*4E

2021-08-15T19:06:49.305Z,1629054409.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 24.693878 deg, deltaT: 4.393044 s, approachRate: 0.027317 m/s, LOS rate: -0.203065 deg/s, posRepo size: 4
2021-08-15T19:06:51.682Z,1629054411.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:52.071Z,1629054412.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:52.072Z,1629054412.072 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:52.073Z,1629054412.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:52.074Z,1629054412.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:52.473Z,1629054412.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DF,189,80,80,7C,FF
2021-08-15T19:06:52.473Z,1629054412.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:52.473Z,1629054412.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:52.475Z,1629054412.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:52.876Z,1629054412.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:53.285Z,1629054413.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E5,189,80,80,6D,FF
2021-08-15T19:06:53.286Z,1629054413.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:53.729Z,1629054413.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190653.63*53

2021-08-15T19:06:53.805Z,1629054413.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.040001 m, bearing: 23.565500 deg, deltaT: 4.517986 s, approachRate: 0.079681 m/s, LOS rate: -0.249752 deg/s, posRepo size: 4
2021-08-15T19:06:56.198Z,1629054416.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:06:56.531Z,1629054416.531 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:06:56.532Z,1629054416.532 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:06:56.532Z,1629054416.532 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:06:56.533Z,1629054416.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:06:56.981Z,1629054416.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E5,189,80,80,6D,FF
2021-08-15T19:06:56.981Z,1629054416.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:06:56.981Z,1629054416.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:06:56.983Z,1629054416.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:06:57.357Z,1629054417.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:06:57.739Z,1629054417.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E9,18A,80,80,4D,FF
2021-08-15T19:06:57.740Z,1629054417.740 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:06:58.166Z,1629054418.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190658.13*5F

2021-08-15T19:06:58.247Z,1629054418.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 22.749186 deg, deltaT: 4.446244 s, approachRate: 0.053979 m/s, LOS rate: -0.183596 deg/s, posRepo size: 4
2021-08-15T19:07:00.584Z,1629054420.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:00.961Z,1629054420.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:00.961Z,1629054420.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:00.961Z,1629054420.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:00.962Z,1629054420.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:01.358Z,1629054421.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E9,18A,80,80,4D,FF
2021-08-15T19:07:01.359Z,1629054421.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:01.359Z,1629054421.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:01.362Z,1629054421.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:01.795Z,1629054421.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:02.166Z,1629054422.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,490,000,005EE,189,80,80,5B,FF
2021-08-15T19:07:02.167Z,1629054422.167 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:02.602Z,1629054422.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190702.51*57

2021-08-15T19:07:02.623Z,1629054422.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 27.614684 deg, deltaT: 4.428366 s, approachRate: 0.067744 m/s, LOS rate: 1.098712 deg/s, posRepo size: 4
2021-08-15T19:07:05.023Z,1629054425.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:05.393Z,1629054425.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:05.393Z,1629054425.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:05.393Z,1629054425.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:05.394Z,1629054425.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:05.829Z,1629054425.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
490,000,005EE,189,80,80,5B,FF
2021-08-15T19:07:05.829Z,1629054425.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:05.829Z,1629054425.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:05.831Z,1629054425.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:06.223Z,1629054426.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:06.605Z,1629054426.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F0,189,80,80,79,FF
2021-08-15T19:07:06.606Z,1629054426.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:07.024Z,1629054427.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190706.98*56

2021-08-15T19:07:07.093Z,1629054427.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.700005 m, bearing: 21.425059 deg, deltaT: 4.380207 s, approachRate: 0.027397 m/s, LOS rate: -1.413090 deg/s, posRepo size: 4
2021-08-15T19:07:09.131Z,1629054429.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:09.445Z,1629054429.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:09.445Z,1629054429.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:09.445Z,1629054429.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:09.446Z,1629054429.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:09.853Z,1629054429.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F0,189,80,80,79,FF
2021-08-15T19:07:09.853Z,1629054429.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:09.853Z,1629054429.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:09.855Z,1629054429.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:10.311Z,1629054430.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:10.653Z,1629054430.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F4,189,80,80,89,FF
2021-08-15T19:07:10.654Z,1629054430.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:11.087Z,1629054431.087 [Micromodem](INFO): Nmea in: $SNTTA,0.084279,,,,190711.01*4E

2021-08-15T19:07:11.161Z,1629054431.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 20.912601 deg, deltaT: 4.065307 s, approachRate: 0.059034 m/s, LOS rate: -0.126056 deg/s, posRepo size: 4
2021-08-15T19:07:13.501Z,1629054433.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:13.877Z,1629054433.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:13.877Z,1629054433.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:13.877Z,1629054433.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:13.878Z,1629054433.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:14.290Z,1629054434.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F4,189,80,80,89,FF
2021-08-15T19:07:14.290Z,1629054434.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:14.290Z,1629054434.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:14.291Z,1629054434.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:14.689Z,1629054434.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:15.129Z,1629054435.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FE,189,80,80,92,FF
2021-08-15T19:07:15.130Z,1629054435.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:15.523Z,1629054435.523 [Micromodem](INFO): Nmea in: $SNTTA,0.053172,,,,190715.45*48

2021-08-15T19:07:15.560Z,1629054435.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 19.948548 deg, deltaT: 4.546943 s, approachRate: 0.131959 m/s, LOS rate: -0.212022 deg/s, posRepo size: 4
2021-08-15T19:07:17.966Z,1629054437.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:18.322Z,1629054438.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:18.322Z,1629054438.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:18.322Z,1629054438.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:18.323Z,1629054438.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:18.729Z,1629054438.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FE,189,80,80,92,FF
2021-08-15T19:07:18.729Z,1629054438.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:18.729Z,1629054438.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:18.731Z,1629054438.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:19.137Z,1629054439.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:19.533Z,1629054439.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00601,18A,80,80,97,FF
2021-08-15T19:07:19.534Z,1629054439.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:19.949Z,1629054439.949 [Micromodem](INFO): Nmea in: $SNTTA,0.452061,0.452467,,,190719.88*5B

2021-08-15T19:07:20.025Z,1629054440.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.720005 m, bearing: 19.133844 deg, deltaT: 4.315881 s, approachRate: 0.041707 m/s, LOS rate: -0.188769 deg/s, posRepo size: 4
2021-08-15T19:07:22.137Z,1629054442.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:22.389Z,1629054442.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:22.389Z,1629054442.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:22.389Z,1629054442.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:22.390Z,1629054442.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:22.777Z,1629054442.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00601,18A,80,80,97,FF
2021-08-15T19:07:22.777Z,1629054442.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:22.777Z,1629054442.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:22.779Z,1629054442.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:23.194Z,1629054443.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:23.633Z,1629054443.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00607,189,80,80,9A,FF
2021-08-15T19:07:23.634Z,1629054443.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:24.005Z,1629054444.005 [Micromodem](INFO): Nmea in: $SNTTA,0.051567,0.389067,,,190723.93*59

2021-08-15T19:07:24.101Z,1629054444.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 18.332305 deg, deltaT: 4.136376 s, approachRate: 0.087032 m/s, LOS rate: -0.193778 deg/s, posRepo size: 4
2021-08-15T19:07:26.457Z,1629054446.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:26.813Z,1629054446.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:26.813Z,1629054446.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:26.814Z,1629054446.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:26.815Z,1629054446.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:27.209Z,1629054447.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00607,189,80,80,9A,FF
2021-08-15T19:07:27.209Z,1629054447.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:27.209Z,1629054447.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:27.211Z,1629054447.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:27.625Z,1629054447.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:28.017Z,1629054448.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,0060E,188,80,80,93,FF
2021-08-15T19:07:28.018Z,1629054448.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:28.021Z,1629054448.021 [Micromodem](INFO): Nmea in: $SNTTA,0.065929,0.213673,,,190728.36*5D

2021-08-15T19:07:28.466Z,1629054448.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 116.376315 deg, deltaT: 4.480198 s, approachRate: 0.093745 m/s, LOS rate: 21.883856 deg/s, posRepo size: 4
2021-08-15T19:07:30.958Z,1629054450.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:31.249Z,1629054451.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:31.249Z,1629054451.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:31.249Z,1629054451.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:31.250Z,1629054451.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:31.653Z,1629054451.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,0060E,188,80,80,93,FF
2021-08-15T19:07:31.653Z,1629054451.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:31.654Z,1629054451.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:31.655Z,1629054451.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:32.082Z,1629054452.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:32.457Z,1629054452.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7D,000,00611,189,80,80,AE,FF
2021-08-15T19:07:32.458Z,1629054452.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:32.902Z,1629054452.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190732.81*59

2021-08-15T19:07:32.923Z,1629054452.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 112.644095 deg, deltaT: 4.337159 s, approachRate: 0.041502 m/s, LOS rate: -0.860522 deg/s, posRepo size: 4
2021-08-15T19:07:35.392Z,1629054455.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:35.705Z,1629054455.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:35.705Z,1629054455.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:35.705Z,1629054455.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:35.706Z,1629054455.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:36.145Z,1629054456.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7D,000,00611,189,80,80,AE,FF
2021-08-15T19:07:36.145Z,1629054456.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:36.145Z,1629054456.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:36.147Z,1629054456.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:36.525Z,1629054456.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:36.969Z,1629054456.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,00616,189,80,80,A4,FF
2021-08-15T19:07:36.970Z,1629054456.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:37.343Z,1629054457.343 [Micromodem](INFO): Nmea in: $SNTTA,0.062682,,,,190737.30*40

2021-08-15T19:07:37.395Z,1629054457.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 113.179786 deg, deltaT: 4.482095 s, approachRate: 0.066934 m/s, LOS rate: 0.119518 deg/s, posRepo size: 4
2021-08-15T19:07:39.817Z,1629054459.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:40.141Z,1629054460.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:40.141Z,1629054460.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:40.141Z,1629054460.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:40.142Z,1629054460.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:40.549Z,1629054460.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,00616,189,80,80,A4,FF
2021-08-15T19:07:40.549Z,1629054460.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:40.549Z,1629054460.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:40.551Z,1629054460.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:40.959Z,1629054460.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:41.354Z,1629054461.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00617,189,80,80,73,FF
2021-08-15T19:07:41.354Z,1629054461.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:41.817Z,1629054461.817 [Micromodem](INFO): Nmea in: $SNTTA,,0.036839,,,190741.71*4B

2021-08-15T19:07:41.861Z,1629054461.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 114.488717 deg, deltaT: 4.437414 s, approachRate: 0.013520 m/s, LOS rate: 0.294976 deg/s, posRepo size: 4
2021-08-15T19:07:44.213Z,1629054464.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:44.581Z,1629054464.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:44.581Z,1629054464.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:44.581Z,1629054464.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:44.582Z,1629054464.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:44.989Z,1629054464.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00617,189,80,80,73,FF
2021-08-15T19:07:44.989Z,1629054464.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:44.989Z,1629054464.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:44.991Z,1629054464.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:45.401Z,1629054465.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:45.846Z,1629054465.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,00621,189,80,80,B3,FF
2021-08-15T19:07:45.847Z,1629054465.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:45.856Z,1629054465.856 [Micromodem](INFO): Nmea in: $SNTTA,0.048664,0.322583,,,190746.14*53

2021-08-15T19:07:46.262Z,1629054466.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 112.026195 deg, deltaT: 4.507595 s, approachRate: 0.133111 m/s, LOS rate: -0.546305 deg/s, posRepo size: 4
2021-08-15T19:07:48.714Z,1629054468.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:49.033Z,1629054469.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:49.033Z,1629054469.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:49.033Z,1629054469.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:49.034Z,1629054469.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:49.457Z,1629054469.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,00621,189,80,80,B3,FF
2021-08-15T19:07:49.457Z,1629054469.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:49.457Z,1629054469.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:49.459Z,1629054469.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:49.848Z,1629054469.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:50.331Z,1629054470.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,0062C,189,80,80,7E,FF
2021-08-15T19:07:50.331Z,1629054470.332 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:50.680Z,1629054470.680 [Micromodem](INFO): Nmea in: $SNTTA,0.098346,,,,190750.61*4D

2021-08-15T19:07:50.699Z,1629054470.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 114.030725 deg, deltaT: 4.430878 s, approachRate: 0.148953 m/s, LOS rate: 0.452400 deg/s, posRepo size: 4
2021-08-15T19:07:53.141Z,1629054473.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:53.477Z,1629054473.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:53.477Z,1629054473.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:53.478Z,1629054473.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:53.479Z,1629054473.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:53.886Z,1629054473.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,0062C,189,80,80,7E,FF
2021-08-15T19:07:53.886Z,1629054473.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:53.886Z,1629054473.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:53.888Z,1629054473.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:54.289Z,1629054474.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:54.681Z,1629054474.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,0062C,18A,80,80,67,FF
2021-08-15T19:07:54.682Z,1629054474.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:55.153Z,1629054475.153 [Micromodem](INFO): Nmea in: $SNTTA,0.050123,,,,190755.04*4E

2021-08-15T19:07:55.179Z,1629054475.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 115.411059 deg, deltaT: 4.364524 s, approachRate: 0.000000 m/s, LOS rate: 0.316262 deg/s, posRepo size: 4
2021-08-15T19:07:57.546Z,1629054477.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:07:57.921Z,1629054477.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:07:57.922Z,1629054477.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:07:57.922Z,1629054477.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:07:57.923Z,1629054477.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:07:58.326Z,1629054478.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1E,000,0062C,18A,80,80,67,FF
2021-08-15T19:07:58.326Z,1629054478.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:07:58.327Z,1629054478.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:07:58.345Z,1629054478.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:07:58.720Z,1629054478.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:07:59.146Z,1629054479.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D48,000,00630,189,80,80,9B,FF
2021-08-15T19:07:59.146Z,1629054479.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:07:59.547Z,1629054479.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190759.50*58

2021-08-15T19:07:59.579Z,1629054479.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 113.410121 deg, deltaT: 4.481994 s, approachRate: 0.053548 m/s, LOS rate: -0.446439 deg/s, posRepo size: 4
2021-08-15T19:08:01.990Z,1629054481.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:02.453Z,1629054482.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:02.453Z,1629054482.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:02.453Z,1629054482.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:02.454Z,1629054482.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:02.771Z,1629054482.771 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D48,000,00630,189,80,80,9B,FF
2021-08-15T19:08:02.771Z,1629054482.771 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:02.771Z,1629054482.771 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:02.773Z,1629054482.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:03.185Z,1629054483.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:03.589Z,1629054483.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D2,000,00637,189,80,80,45,FF
2021-08-15T19:08:03.589Z,1629054483.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:04.106Z,1629054484.106 [Micromodem](INFO): Nmea in: $SNTTA,0.391370,,,,190803.92*47

2021-08-15T19:08:04.182Z,1629054484.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 17.497461 deg, deltaT: 4.397690 s, approachRate: 0.095504 m/s, LOS rate: -21.809781 deg/s, posRepo size: 4
2021-08-15T19:08:06.463Z,1629054486.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:06.817Z,1629054486.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:06.818Z,1629054486.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:06.818Z,1629054486.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:06.819Z,1629054486.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:07.217Z,1629054487.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D2,000,00637,189,80,80,45,FF
2021-08-15T19:08:07.217Z,1629054487.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:07.217Z,1629054487.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:07.219Z,1629054487.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:07.629Z,1629054487.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:08.021Z,1629054488.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00639,189,80,80,BC,FF
2021-08-15T19:08:08.022Z,1629054488.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:08.029Z,1629054488.029 [Micromodem](INFO): Nmea in: $SNTTA,0.047831,0.167238,,,190808.37*52

2021-08-15T19:08:08.456Z,1629054488.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 112.973071 deg, deltaT: 4.567910 s, approachRate: 0.026272 m/s, LOS rate: 20.901376 deg/s, posRepo size: 4
2021-08-15T19:08:10.875Z,1629054490.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:11.249Z,1629054491.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:11.249Z,1629054491.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:11.249Z,1629054491.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:11.250Z,1629054491.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:11.665Z,1629054491.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00639,189,80,80,BC,FF
2021-08-15T19:08:11.665Z,1629054491.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:11.666Z,1629054491.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:11.667Z,1629054491.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:12.090Z,1629054492.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:12.461Z,1629054492.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,0063E,189,80,80,AD,FF
2021-08-15T19:08:12.462Z,1629054492.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:12.905Z,1629054492.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190812.82*57

2021-08-15T19:08:12.929Z,1629054492.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 113.968297 deg, deltaT: 4.333441 s, approachRate: 0.069228 m/s, LOS rate: 0.229662 deg/s, posRepo size: 4
2021-08-15T19:08:15.338Z,1629054495.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:15.701Z,1629054495.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:15.701Z,1629054495.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:15.701Z,1629054495.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:15.702Z,1629054495.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:16.206Z,1629054496.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,0063E,189,80,80,AD,FF
2021-08-15T19:08:16.206Z,1629054496.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:16.206Z,1629054496.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:16.209Z,1629054496.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:16.540Z,1629054496.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:16.925Z,1629054496.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,0063D,18A,80,80,9C,FF
2021-08-15T19:08:16.925Z,1629054496.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:17.426Z,1629054497.426 [Micromodem](INFO): Nmea in: $SNTTA,0.077352,,,,190817.36*47

2021-08-15T19:08:17.456Z,1629054497.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.319996 m, bearing: 113.548712 deg, deltaT: 4.434017 s, approachRate: -0.013533 m/s, LOS rate: -0.094629 deg/s, posRepo size: 4
2021-08-15T19:08:19.807Z,1629054499.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:20.149Z,1629054500.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:20.149Z,1629054500.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:20.149Z,1629054500.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:20.150Z,1629054500.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:20.541Z,1629054500.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,0063D,18A,80,80,9C,FF
2021-08-15T19:08:20.541Z,1629054500.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:20.542Z,1629054500.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:20.543Z,1629054500.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:20.962Z,1629054500.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:21.358Z,1629054501.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4E,000,00649,189,80,80,A8,FF
2021-08-15T19:08:21.358Z,1629054501.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:21.813Z,1629054501.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190821.70*5A

2021-08-15T19:08:21.875Z,1629054501.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.040001 m, bearing: 111.732155 deg, deltaT: 4.474290 s, approachRate: 0.160921 m/s, LOS rate: -0.405999 deg/s, posRepo size: 4
2021-08-15T19:08:24.237Z,1629054504.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:24.585Z,1629054504.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:24.585Z,1629054504.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:24.585Z,1629054504.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:24.586Z,1629054504.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:24.989Z,1629054504.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4E,000,00649,189,80,80,A8,FF
2021-08-15T19:08:24.989Z,1629054504.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:24.989Z,1629054504.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:24.991Z,1629054504.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:25.397Z,1629054505.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:25.842Z,1629054505.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,00650,18A,80,80,AA,FF
2021-08-15T19:08:25.842Z,1629054505.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:26.238Z,1629054506.238 [Micromodem](INFO): Nmea in: $SNTTA,0.321519,,,,190826.15*4D

2021-08-15T19:08:26.284Z,1629054506.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 110.583133 deg, deltaT: 4.487298 s, approachRate: 0.093598 m/s, LOS rate: -0.256061 deg/s, posRepo size: 4
2021-08-15T19:08:28.665Z,1629054508.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:29.126Z,1629054509.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:29.126Z,1629054509.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:29.126Z,1629054509.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:29.127Z,1629054509.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:29.445Z,1629054509.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,00650,18A,80,80,AA,FF
2021-08-15T19:08:29.445Z,1629054509.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:29.445Z,1629054509.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:29.447Z,1629054509.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:29.852Z,1629054509.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:30.269Z,1629054510.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFB,000,00654,188,80,80,63,FF
2021-08-15T19:08:30.269Z,1629054510.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:30.749Z,1629054510.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190830.60*5B

2021-08-15T19:08:30.771Z,1629054510.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 113.416965 deg, deltaT: 4.391834 s, approachRate: 0.054647 m/s, LOS rate: 0.645250 deg/s, posRepo size: 4
2021-08-15T19:08:33.133Z,1629054513.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:33.477Z,1629054513.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:33.477Z,1629054513.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:33.477Z,1629054513.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:33.478Z,1629054513.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:33.877Z,1629054513.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFB,000,00654,188,80,80,63,FF
2021-08-15T19:08:33.877Z,1629054513.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:33.877Z,1629054513.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:33.879Z,1629054513.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:34.297Z,1629054514.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:34.685Z,1629054514.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,0065E,189,80,80,81,FF
2021-08-15T19:08:34.685Z,1629054514.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:35.137Z,1629054515.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190835.03*5B

2021-08-15T19:08:35.163Z,1629054515.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 112.184607 deg, deltaT: 4.476540 s, approachRate: 0.134032 m/s, LOS rate: -0.275292 deg/s, posRepo size: 4
2021-08-15T19:08:37.541Z,1629054517.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:37.917Z,1629054517.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:37.917Z,1629054517.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:37.917Z,1629054517.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:37.918Z,1629054517.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:38.326Z,1629054518.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,0065E,189,80,80,81,FF
2021-08-15T19:08:38.326Z,1629054518.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:38.326Z,1629054518.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:38.365Z,1629054518.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:38.737Z,1629054518.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:39.133Z,1629054519.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00664,18A,80,80,7A,FF
2021-08-15T19:08:39.134Z,1629054519.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:39.274Z,1629054519.274 [CTD_Seabird](ERROR): Failed to parse device response: 5.93,24.3405,4.802.45
2021-08-15T19:08:39.546Z,1629054519.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190839.52*53

2021-08-15T19:08:39.593Z,1629054519.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 109.163621 deg, deltaT: 4.415045 s, approachRate: 0.081539 m/s, LOS rate: -0.684248 deg/s, posRepo size: 4
2021-08-15T19:08:42.003Z,1629054522.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:42.441Z,1629054522.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:42.441Z,1629054522.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:42.441Z,1629054522.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:42.442Z,1629054522.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:42.792Z,1629054522.792 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00664,18A,80,80,7A,FF
2021-08-15T19:08:42.793Z,1629054522.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:42.793Z,1629054522.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:42.794Z,1629054522.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:43.185Z,1629054523.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:43.585Z,1629054523.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,00668,188,80,80,65,FF
2021-08-15T19:08:43.585Z,1629054523.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:44.093Z,1629054524.093 [Micromodem](INFO): Nmea in: $SNTTA,0.080849,,,,190843.95*46

2021-08-15T19:08:44.154Z,1629054524.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 112.789284 deg, deltaT: 4.439566 s, approachRate: 0.054060 m/s, LOS rate: 0.816670 deg/s, posRepo size: 4
2021-08-15T19:08:46.444Z,1629054526.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:46.805Z,1629054526.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:46.805Z,1629054526.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:46.805Z,1629054526.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:46.806Z,1629054526.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:47.205Z,1629054527.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,00668,188,80,80,65,FF
2021-08-15T19:08:47.205Z,1629054527.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:47.206Z,1629054527.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:47.207Z,1629054527.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:47.617Z,1629054527.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:48.021Z,1629054528.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,0066B,189,80,80,7C,FF
2021-08-15T19:08:48.022Z,1629054528.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:48.449Z,1629054528.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190848.36*57

2021-08-15T19:08:48.483Z,1629054528.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.080002 m, bearing: 111.843391 deg, deltaT: 4.519148 s, approachRate: 0.039831 m/s, LOS rate: -0.209308 deg/s, posRepo size: 4
2021-08-15T19:08:50.892Z,1629054530.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:51.261Z,1629054531.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:51.261Z,1629054531.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:51.261Z,1629054531.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:51.262Z,1629054531.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:51.661Z,1629054531.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,0066B,189,80,80,7C,FF
2021-08-15T19:08:51.661Z,1629054531.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:51.661Z,1629054531.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:51.663Z,1629054531.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:52.087Z,1629054532.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:52.461Z,1629054532.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00670,189,80,80,C3,FF
2021-08-15T19:08:52.462Z,1629054532.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:52.909Z,1629054532.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190852.82*53

2021-08-15T19:08:52.932Z,1629054532.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 111.189551 deg, deltaT: 4.357186 s, approachRate: 0.068852 m/s, LOS rate: -0.150060 deg/s, posRepo size: 4
2021-08-15T19:08:55.374Z,1629054535.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:08:55.779Z,1629054535.779 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:08:55.780Z,1629054535.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:08:55.781Z,1629054535.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:08:55.783Z,1629054535.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:08:56.149Z,1629054536.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00670,189,80,80,C3,FF
2021-08-15T19:08:56.149Z,1629054536.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:08:56.149Z,1629054536.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:08:56.151Z,1629054536.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:08:56.526Z,1629054536.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:08:56.937Z,1629054536.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,0067A,189,80,80,A1,FF
2021-08-15T19:08:56.937Z,1629054536.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:08:57.425Z,1629054537.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190857.31*5E

2021-08-15T19:08:57.451Z,1629054537.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 112.899182 deg, deltaT: 4.450644 s, approachRate: 0.134812 m/s, LOS rate: 0.384131 deg/s, posRepo size: 4
2021-08-15T19:08:59.815Z,1629054539.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:00.141Z,1629054540.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:00.142Z,1629054540.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:00.142Z,1629054540.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:00.143Z,1629054540.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:00.541Z,1629054540.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,0067A,189,80,80,A1,FF
2021-08-15T19:09:00.541Z,1629054540.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:00.542Z,1629054540.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:00.543Z,1629054540.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:00.947Z,1629054540.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:01.354Z,1629054541.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,00680,189,80,80,8E,FF
2021-08-15T19:09:01.354Z,1629054541.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:01.825Z,1629054541.825 [Micromodem](INFO): Nmea in: $SNTTA,0.056903,,,,190901.70*4E

2021-08-15T19:09:01.870Z,1629054541.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 112.203554 deg, deltaT: 4.459588 s, approachRate: 0.080724 m/s, LOS rate: -0.155985 deg/s, posRepo size: 4
2021-08-15T19:09:04.247Z,1629054544.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:04.581Z,1629054544.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:04.581Z,1629054544.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:04.581Z,1629054544.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:04.582Z,1629054544.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:04.998Z,1629054544.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,00680,189,80,80,8E,FF
2021-08-15T19:09:04.999Z,1629054544.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:04.999Z,1629054544.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:05.002Z,1629054545.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:05.397Z,1629054545.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:05.843Z,1629054545.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0A,000,00681,188,80,80,A0,FF
2021-08-15T19:09:05.844Z,1629054545.844 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:05.856Z,1629054545.856 [Micromodem](INFO): Nmea in: $SNTTA,0.316790,0.316753,,,190906.16*51

2021-08-15T19:09:06.237Z,1629054546.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 113.829132 deg, deltaT: 4.514973 s, approachRate: 0.013289 m/s, LOS rate: 0.360042 deg/s, posRepo size: 4
2021-08-15T19:09:08.646Z,1629054548.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:09.031Z,1629054549.031 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:09.031Z,1629054549.031 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:09.032Z,1629054549.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:09.033Z,1629054549.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:09.505Z,1629054549.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0A,000,00681,188,80,80,A0,FF
2021-08-15T19:09:09.505Z,1629054549.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:09.505Z,1629054549.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:09.507Z,1629054549.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:09.873Z,1629054549.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:10.253Z,1629054550.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D27,000,00689,189,80,80,94,FF
2021-08-15T19:09:10.254Z,1629054550.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:10.754Z,1629054550.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190910.66*5E

2021-08-15T19:09:10.786Z,1629054550.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 112.186827 deg, deltaT: 4.352205 s, approachRate: 0.110287 m/s, LOS rate: -0.377350 deg/s, posRepo size: 4
2021-08-15T19:09:13.122Z,1629054553.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:13.482Z,1629054553.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:13.482Z,1629054553.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:13.482Z,1629054553.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:13.483Z,1629054553.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:13.873Z,1629054553.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D27,000,00689,189,80,80,94,FF
2021-08-15T19:09:13.873Z,1629054553.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:13.873Z,1629054553.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:13.875Z,1629054553.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:14.281Z,1629054554.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:14.689Z,1629054554.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,0068D,189,80,80,7B,FF
2021-08-15T19:09:14.690Z,1629054554.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:15.133Z,1629054555.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190915.03*58

2021-08-15T19:09:15.178Z,1629054555.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.119999 m, bearing: 110.314317 deg, deltaT: 4.484628 s, approachRate: 0.053517 m/s, LOS rate: -0.417540 deg/s, posRepo size: 4
2021-08-15T19:09:17.543Z,1629054557.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:17.913Z,1629054557.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:17.913Z,1629054557.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:17.913Z,1629054557.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:17.914Z,1629054557.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:18.322Z,1629054558.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,0068D,189,80,80,7B,FF
2021-08-15T19:09:18.322Z,1629054558.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:18.322Z,1629054558.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:18.324Z,1629054558.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:18.733Z,1629054558.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:19.133Z,1629054559.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,00691,189,80,80,99,FF
2021-08-15T19:09:19.134Z,1629054559.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:19.563Z,1629054559.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190919.48*5B

2021-08-15T19:09:19.578Z,1629054559.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 111.122397 deg, deltaT: 4.434863 s, approachRate: 0.054117 m/s, LOS rate: 0.182211 deg/s, posRepo size: 4
2021-08-15T19:09:21.994Z,1629054561.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:22.361Z,1629054562.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:22.361Z,1629054562.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:22.361Z,1629054562.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:22.362Z,1629054562.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:22.773Z,1629054562.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,00691,189,80,80,99,FF
2021-08-15T19:09:22.773Z,1629054562.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:22.773Z,1629054562.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:22.775Z,1629054562.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:23.289Z,1629054563.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:23.597Z,1629054563.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0069B,189,80,80,82,FF
2021-08-15T19:09:23.597Z,1629054563.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:24.017Z,1629054564.017 [Micromodem](INFO): Nmea in: $SNTTA,0.427649,0.427493,,,190923.93*51

2021-08-15T19:09:24.106Z,1629054564.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 10.203497 deg, deltaT: 4.427999 s, approachRate: 0.135501 m/s, LOS rate: -22.791085 deg/s, posRepo size: 4
2021-08-15T19:09:26.433Z,1629054566.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:26.801Z,1629054566.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:26.801Z,1629054566.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:26.801Z,1629054566.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:26.802Z,1629054566.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:27.209Z,1629054567.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0069B,189,80,80,82,FF
2021-08-15T19:09:27.209Z,1629054567.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:27.210Z,1629054567.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:27.211Z,1629054567.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:27.613Z,1629054567.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:28.021Z,1629054568.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,006A2,189,80,80,77,FF
2021-08-15T19:09:28.022Z,1629054568.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:28.027Z,1629054568.027 [Micromodem](INFO): Nmea in: $SNTTA,0.055309,0.169546,,,190928.37*52

2021-08-15T19:09:28.447Z,1629054568.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 111.318573 deg, deltaT: 4.519215 s, approachRate: 0.092938 m/s, LOS rate: 22.374479 deg/s, posRepo size: 4
2021-08-15T19:09:30.873Z,1629054570.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:31.245Z,1629054571.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:31.245Z,1629054571.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:31.246Z,1629054571.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:31.247Z,1629054571.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:31.665Z,1629054571.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,006A2,189,80,80,77,FF
2021-08-15T19:09:31.665Z,1629054571.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:31.665Z,1629054571.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:31.667Z,1629054571.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:32.086Z,1629054572.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:32.457Z,1629054572.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,0069E,18A,80,80,92,FF
2021-08-15T19:09:32.457Z,1629054572.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:32.885Z,1629054572.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190932.82*54

2021-08-15T19:09:32.915Z,1629054572.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 109.678583 deg, deltaT: 4.352005 s, approachRate: -0.055148 m/s, LOS rate: -0.376835 deg/s, posRepo size: 4
2021-08-15T19:09:35.338Z,1629054575.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:35.757Z,1629054575.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:35.757Z,1629054575.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:35.758Z,1629054575.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:35.759Z,1629054575.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:36.106Z,1629054576.106 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T19:09:36.109Z,1629054576.109 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T19:09:36.164Z,1629054576.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,0069E,18A,80,80,92,FF
2021-08-15T19:09:36.164Z,1629054576.164 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:36.165Z,1629054576.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:36.166Z,1629054576.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:36.501Z,1629054576.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:36.910Z,1629054576.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D17,000,006A8,189,80,80,BE,FF
2021-08-15T19:09:36.910Z,1629054576.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:37.393Z,1629054577.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 110.423340 deg, deltaT: 4.432600 s, approachRate: 0.135360 m/s, LOS rate: 0.168018 deg/s, posRepo size: 4
2021-08-15T19:09:37.728Z,1629054577.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190937.32*5A

2021-08-15T19:09:39.806Z,1629054579.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:40.151Z,1629054580.151 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:40.152Z,1629054580.152 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:40.152Z,1629054580.152 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:40.153Z,1629054580.153 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:40.537Z,1629054580.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D17,000,006A8,189,80,80,BE,FF
2021-08-15T19:09:40.537Z,1629054580.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:40.537Z,1629054580.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:40.539Z,1629054580.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:40.961Z,1629054580.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:41.354Z,1629054581.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006AB,189,80,80,91,FF
2021-08-15T19:09:41.354Z,1629054581.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:41.809Z,1629054581.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190941.70*5D

2021-08-15T19:09:41.857Z,1629054581.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 8.753897 deg, deltaT: 4.472516 s, approachRate: 0.040246 m/s, LOS rate: -22.732046 deg/s, posRepo size: 4
2021-08-15T19:09:44.208Z,1629054584.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:44.589Z,1629054584.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:44.589Z,1629054584.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:44.589Z,1629054584.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:44.590Z,1629054584.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:44.989Z,1629054584.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006AB,189,80,80,91,FF
2021-08-15T19:09:44.989Z,1629054584.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:44.990Z,1629054584.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:44.991Z,1629054584.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:45.401Z,1629054585.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:45.829Z,1629054585.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,006AA,189,80,80,A2,FF
2021-08-15T19:09:45.830Z,1629054585.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:46.230Z,1629054586.230 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190946.14*58

2021-08-15T19:09:46.255Z,1629054586.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.860008 m, bearing: 110.785689 deg, deltaT: 4.498003 s, approachRate: -0.013337 m/s, LOS rate: 22.683798 deg/s, posRepo size: 4
2021-08-15T19:09:48.645Z,1629054588.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:49.029Z,1629054589.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:49.029Z,1629054589.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:49.029Z,1629054589.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:49.030Z,1629054589.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:49.421Z,1629054589.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,006AA,189,80,80,A2,FF
2021-08-15T19:09:49.421Z,1629054589.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:49.422Z,1629054589.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:49.423Z,1629054589.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:49.845Z,1629054589.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:49.873Z,1629054589.873 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:09:50.234Z,1629054590.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,006B7,188,80,80,9C,FF
2021-08-15T19:09:50.234Z,1629054590.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:50.669Z,1629054590.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190950.58*57

2021-08-15T19:09:50.704Z,1629054590.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.639999 m, bearing: 112.529504 deg, deltaT: 4.358372 s, approachRate: 0.178964 m/s, LOS rate: 0.400107 deg/s, posRepo size: 4
2021-08-15T19:09:53.117Z,1629054593.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:53.469Z,1629054593.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:53.469Z,1629054593.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:53.469Z,1629054593.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:53.470Z,1629054593.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:53.878Z,1629054593.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,006B7,188,80,80,9C,FF
2021-08-15T19:09:53.878Z,1629054593.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:53.878Z,1629054593.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:53.879Z,1629054593.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:54.277Z,1629054594.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:54.690Z,1629054594.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,006B6,18A,80,80,BC,FF
2021-08-15T19:09:54.690Z,1629054594.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:55.125Z,1629054595.125 [Micromodem](INFO): Nmea in: $SNTTA,0.065431,,,,190955.04*40

2021-08-15T19:09:55.167Z,1629054595.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.580002 m, bearing: 110.316291 deg, deltaT: 4.445817 s, approachRate: -0.013495 m/s, LOS rate: -0.497819 deg/s, posRepo size: 4
2021-08-15T19:09:57.525Z,1629054597.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:09:57.905Z,1629054597.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:09:57.905Z,1629054597.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:09:57.906Z,1629054597.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:09:57.906Z,1629054597.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:09:58.327Z,1629054598.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,006B6,18A,80,80,BC,FF
2021-08-15T19:09:58.327Z,1629054598.327 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:09:58.327Z,1629054598.327 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:09:58.330Z,1629054598.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:09:58.723Z,1629054598.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:09:59.130Z,1629054599.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006BB,189,80,80,79,FF
2021-08-15T19:09:59.130Z,1629054599.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:09:59.554Z,1629054599.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,190959.48*5F

2021-08-15T19:09:59.575Z,1629054599.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 8.477136 deg, deltaT: 4.450641 s, approachRate: 0.067407 m/s, LOS rate: -22.881909 deg/s, posRepo size: 4
2021-08-15T19:10:02.027Z,1629054602.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:02.361Z,1629054602.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:02.361Z,1629054602.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:02.361Z,1629054602.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:02.362Z,1629054602.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:02.757Z,1629054602.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006BB,189,80,80,79,FF
2021-08-15T19:10:02.757Z,1629054602.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:02.757Z,1629054602.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:02.759Z,1629054602.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:03.169Z,1629054603.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:03.570Z,1629054603.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C4,18A,80,80,A7,FF
2021-08-15T19:10:03.570Z,1629054603.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:03.997Z,1629054603.997 [Micromodem](INFO): Nmea in: $SNTTA,0.436340,,,,191003.92*47

2021-08-15T19:10:04.087Z,1629054604.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 8.326990 deg, deltaT: 4.442540 s, approachRate: 0.121551 m/s, LOS rate: -0.033797 deg/s, posRepo size: 4
2021-08-15T19:10:06.107Z,1629054606.107 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:06.397Z,1629054606.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:06.397Z,1629054606.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:06.397Z,1629054606.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:06.398Z,1629054606.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:06.793Z,1629054606.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C4,18A,80,80,A7,FF
2021-08-15T19:10:06.793Z,1629054606.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:06.794Z,1629054606.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:06.795Z,1629054606.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:07.201Z,1629054607.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:07.610Z,1629054607.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,006C2,189,80,80,53,FF
2021-08-15T19:10:07.610Z,1629054607.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:08.021Z,1629054608.021 [Micromodem](INFO): Nmea in: $SNTTA,0.118697,0.380471,,,191007.95*55

2021-08-15T19:10:08.126Z,1629054608.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 113.137979 deg, deltaT: 4.049034 s, approachRate: -0.029635 m/s, LOS rate: 25.885430 deg/s, posRepo size: 4
2021-08-15T19:10:10.174Z,1629054610.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:10.433Z,1629054610.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:10.433Z,1629054610.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:10.433Z,1629054610.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:10.434Z,1629054610.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:10.841Z,1629054610.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,006C2,189,80,80,53,FF
2021-08-15T19:10:10.841Z,1629054610.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:10.841Z,1629054610.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:10.843Z,1629054610.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:11.255Z,1629054611.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:11.663Z,1629054611.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006CD,189,80,80,8F,FF
2021-08-15T19:10:11.684Z,1629054611.684 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:12.101Z,1629054612.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191012.00*54

2021-08-15T19:10:12.170Z,1629054612.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.960007 m, bearing: 7.578109 deg, deltaT: 4.126033 s, approachRate: 0.159961 m/s, LOS rate: -25.583865 deg/s, posRepo size: 4
2021-08-15T19:10:14.490Z,1629054614.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:14.877Z,1629054614.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:14.877Z,1629054614.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:14.877Z,1629054614.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:14.878Z,1629054614.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:15.286Z,1629054615.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006CD,189,80,80,8F,FF
2021-08-15T19:10:15.286Z,1629054615.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:15.286Z,1629054615.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:15.288Z,1629054615.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:15.685Z,1629054615.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:16.117Z,1629054616.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D1,189,80,80,AD,FF
2021-08-15T19:10:16.118Z,1629054616.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:16.517Z,1629054616.517 [Micromodem](INFO): Nmea in: $SNTTA,0.055809,,,,191016.44*4F

2021-08-15T19:10:16.559Z,1629054616.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 7.365350 deg, deltaT: 4.424358 s, approachRate: 0.054243 m/s, LOS rate: -0.048088 deg/s, posRepo size: 4
2021-08-15T19:10:18.938Z,1629054618.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:19.325Z,1629054619.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:19.326Z,1629054619.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:19.326Z,1629054619.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:19.327Z,1629054619.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:19.748Z,1629054619.748 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D1,189,80,80,AD,FF
2021-08-15T19:10:19.749Z,1629054619.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:19.750Z,1629054619.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:19.759Z,1629054619.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:20.141Z,1629054620.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:20.953Z,1629054620.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191020.92*5E

2021-08-15T19:10:21.836Z,1629054621.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:23.373Z,1629054623.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,AD,FF
2021-08-15T19:10:23.373Z,1629054623.373 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,AD,FF
2021-08-15T19:10:23.373Z,1629054623.373 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:10:24.614Z,1629054624.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:24.977Z,1629054624.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:24.977Z,1629054624.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:24.978Z,1629054624.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:24.978Z,1629054624.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:25.385Z,1629054625.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,AD,FF
2021-08-15T19:10:25.385Z,1629054625.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:25.385Z,1629054625.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:25.387Z,1629054625.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:25.835Z,1629054625.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:25.849Z,1629054625.849 [Micromodem](INFO): Nmea in: 

2021-08-15T19:10:25.850Z,1629054625.850 [Micromodem](ERROR): Response from modem failed NMEA checksum: 
 expected 0
2021-08-15T19:10:26.197Z,1629054626.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D9,189,80,80,7E,FF
2021-08-15T19:10:26.198Z,1629054626.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:26.625Z,1629054626.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 6.461464 deg, deltaT: 10.053904 s, approachRate: 0.047743 m/s, LOS rate: -0.089904 deg/s, posRepo size: 4
2021-08-15T19:10:29.039Z,1629054629.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:29.421Z,1629054629.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:29.421Z,1629054629.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:29.421Z,1629054629.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:29.422Z,1629054629.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:29.849Z,1629054629.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D9,189,80,80,7E,FF
2021-08-15T19:10:29.849Z,1629054629.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:29.850Z,1629054629.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:29.851Z,1629054629.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:30.240Z,1629054630.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:30.638Z,1629054630.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E2,189,80,80,B2,FF
2021-08-15T19:10:30.638Z,1629054630.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:31.085Z,1629054631.085 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191031.01*54

2021-08-15T19:10:31.118Z,1629054631.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 6.305015 deg, deltaT: 4.406513 s, approachRate: 0.122544 m/s, LOS rate: -0.035504 deg/s, posRepo size: 4
2021-08-15T19:10:33.490Z,1629054633.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:33.877Z,1629054633.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:33.877Z,1629054633.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:33.877Z,1629054633.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:33.878Z,1629054633.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:34.277Z,1629054634.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E2,189,80,80,B2,FF
2021-08-15T19:10:34.277Z,1629054634.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:34.277Z,1629054634.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:34.279Z,1629054634.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:34.685Z,1629054634.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:35.105Z,1629054635.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006ED,18A,80,80,77,FF
2021-08-15T19:10:35.106Z,1629054635.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:35.525Z,1629054635.525 [Micromodem](INFO): Nmea in: $SNTTA,0.097410,,,,191035.43*43

2021-08-15T19:10:35.547Z,1629054635.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.879997 m, bearing: 5.896866 deg, deltaT: 4.500992 s, approachRate: 0.146635 m/s, LOS rate: -0.090680 deg/s, posRepo size: 4
2021-08-15T19:10:36.332Z,1629054636.332 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T19:10:37.950Z,1629054637.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:38.330Z,1629054638.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:38.330Z,1629054638.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:38.330Z,1629054638.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:38.331Z,1629054638.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:38.721Z,1629054638.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006ED,18A,80,80,77,FF
2021-08-15T19:10:38.721Z,1629054638.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:38.721Z,1629054638.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:38.723Z,1629054638.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:39.133Z,1629054639.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:39.529Z,1629054639.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006EA,189,80,80,A4,FF
2021-08-15T19:10:39.530Z,1629054639.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:39.966Z,1629054639.966 [Micromodem](INFO): Nmea in: $SNTTA,0.415482,,,,191039.88*4D

2021-08-15T19:10:40.001Z,1629054640.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 6.425708 deg, deltaT: 4.447685 s, approachRate: -0.040471 m/s, LOS rate: 0.118903 deg/s, posRepo size: 4
2021-08-15T19:10:42.407Z,1629054642.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:42.761Z,1629054642.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:42.761Z,1629054642.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:42.761Z,1629054642.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:42.762Z,1629054642.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:43.174Z,1629054643.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006EA,189,80,80,A4,FF
2021-08-15T19:10:43.174Z,1629054643.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:43.174Z,1629054643.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:43.175Z,1629054643.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:43.573Z,1629054643.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:43.977Z,1629054643.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F1,189,80,80,A8,FF
2021-08-15T19:10:43.978Z,1629054643.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:43.981Z,1629054643.981 [Micromodem](INFO): Nmea in: $SNTTA,0.227489,0.227914,,,191044.33*5E

2021-08-15T19:10:44.426Z,1629054644.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 6.794646 deg, deltaT: 4.487782 s, approachRate: 0.093589 m/s, LOS rate: 0.082209 deg/s, posRepo size: 4
2021-08-15T19:10:46.823Z,1629054646.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:47.205Z,1629054647.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:47.205Z,1629054647.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:47.205Z,1629054647.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:47.206Z,1629054647.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:47.618Z,1629054647.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F1,189,80,80,A8,FF
2021-08-15T19:10:47.618Z,1629054647.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:47.618Z,1629054647.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:47.621Z,1629054647.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:48.017Z,1629054648.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:48.421Z,1629054648.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F7,189,80,80,77,FF
2021-08-15T19:10:48.422Z,1629054648.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:48.869Z,1629054648.869 [Micromodem](INFO): Nmea in: $SNTTA,0.036549,,,,191048.78*47

2021-08-15T19:10:48.897Z,1629054648.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 7.333859 deg, deltaT: 4.373755 s, approachRate: 0.082308 m/s, LOS rate: 0.123284 deg/s, posRepo size: 4
2021-08-15T19:10:51.294Z,1629054651.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:51.661Z,1629054651.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:51.661Z,1629054651.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:51.662Z,1629054651.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:51.663Z,1629054651.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:52.062Z,1629054652.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F7,189,80,80,77,FF
2021-08-15T19:10:52.063Z,1629054652.063 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:52.063Z,1629054652.063 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:52.081Z,1629054652.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:52.477Z,1629054652.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:52.873Z,1629054652.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006FD,18A,80,80,6B,FF
2021-08-15T19:10:52.874Z,1629054652.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:53.299Z,1629054653.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191053.24*57

2021-08-15T19:10:53.335Z,1629054653.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 7.988711 deg, deltaT: 4.444778 s, approachRate: 0.080996 m/s, LOS rate: 0.147331 deg/s, posRepo size: 4
2021-08-15T19:10:55.795Z,1629054655.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:10:56.129Z,1629054656.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:10:56.129Z,1629054656.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:10:56.129Z,1629054656.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:10:56.130Z,1629054656.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:10:56.505Z,1629054656.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006FD,18A,80,80,6B,FF
2021-08-15T19:10:56.505Z,1629054656.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:10:56.505Z,1629054656.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:10:56.509Z,1629054656.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:10:56.918Z,1629054656.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:10:57.306Z,1629054657.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,00703,188,80,80,91,FF
2021-08-15T19:10:57.307Z,1629054657.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:10:57.747Z,1629054657.747 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191057.66*55

2021-08-15T19:10:57.807Z,1629054657.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 111.061779 deg, deltaT: 4.459667 s, approachRate: 0.080724 m/s, LOS rate: 23.112279 deg/s, posRepo size: 4
2021-08-15T19:11:00.175Z,1629054660.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:00.541Z,1629054660.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:00.542Z,1629054660.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:00.542Z,1629054660.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:00.543Z,1629054660.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:00.945Z,1629054660.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,00703,188,80,80,91,FF
2021-08-15T19:11:00.945Z,1629054660.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:00.945Z,1629054660.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:00.947Z,1629054660.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:01.356Z,1629054661.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:01.823Z,1629054661.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,0070C,189,80,80,A9,FF
2021-08-15T19:11:01.824Z,1629054661.824 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:01.830Z,1629054661.830 [Micromodem](INFO): Nmea in: $SNTTA,0.051669,0.343214,,,191102.10*5B

2021-08-15T19:11:02.216Z,1629054662.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 112.879757 deg, deltaT: 4.535747 s, approachRate: 0.119053 m/s, LOS rate: 0.400811 deg/s, posRepo size: 4
2021-08-15T19:11:04.594Z,1629054664.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:04.989Z,1629054664.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:04.989Z,1629054664.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:04.989Z,1629054664.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:04.990Z,1629054664.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:05.389Z,1629054665.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,0070C,189,80,80,A9,FF
2021-08-15T19:11:05.389Z,1629054665.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:05.389Z,1629054665.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:05.391Z,1629054665.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:05.833Z,1629054665.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:06.193Z,1629054666.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,00712,189,80,80,B8,FF
2021-08-15T19:11:06.194Z,1629054666.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:06.621Z,1629054666.621 [Micromodem](INFO): Nmea in: $SNTTA,0.120535,,,,191106.55*4E

2021-08-15T19:11:06.640Z,1629054666.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 112.437283 deg, deltaT: 4.385700 s, approachRate: 0.082087 m/s, LOS rate: -0.100890 deg/s, posRepo size: 4
2021-08-15T19:11:09.069Z,1629054669.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:09.425Z,1629054669.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:09.425Z,1629054669.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:09.425Z,1629054669.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:09.426Z,1629054669.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:09.838Z,1629054669.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,00712,189,80,80,B8,FF
2021-08-15T19:11:09.838Z,1629054669.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:09.838Z,1629054669.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:09.839Z,1629054669.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:10.233Z,1629054670.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:10.637Z,1629054670.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0071C,189,80,80,8B,FF
2021-08-15T19:11:10.638Z,1629054670.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:11.076Z,1629054671.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191111.00*56

2021-08-15T19:11:11.127Z,1629054671.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.700005 m, bearing: 12.079878 deg, deltaT: 4.363941 s, approachRate: 0.137490 m/s, LOS rate: -22.996967 deg/s, posRepo size: 4
2021-08-15T19:11:11.878Z,1629054671.878 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:11:13.502Z,1629054673.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:13.869Z,1629054673.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:13.869Z,1629054673.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:13.869Z,1629054673.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:13.870Z,1629054673.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:14.273Z,1629054674.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0071C,189,80,80,8B,FF
2021-08-15T19:11:14.273Z,1629054674.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:14.273Z,1629054674.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:14.275Z,1629054674.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:14.681Z,1629054674.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:15.117Z,1629054675.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,0071E,189,80,80,BD,FF
2021-08-15T19:11:15.117Z,1629054675.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:15.513Z,1629054675.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191115.43*55

2021-08-15T19:11:15.549Z,1629054675.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 112.407982 deg, deltaT: 4.484885 s, approachRate: 0.026755 m/s, LOS rate: 22.370273 deg/s, posRepo size: 4
2021-08-15T19:11:17.964Z,1629054677.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:18.317Z,1629054678.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:18.318Z,1629054678.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:18.318Z,1629054678.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:18.319Z,1629054678.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:18.717Z,1629054678.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,0071E,189,80,80,BD,FF
2021-08-15T19:11:18.717Z,1629054678.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:18.717Z,1629054678.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:18.719Z,1629054678.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:19.129Z,1629054679.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:19.525Z,1629054679.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00722,189,80,80,92,FF
2021-08-15T19:11:19.526Z,1629054679.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:19.957Z,1629054679.957 [Micromodem](INFO): Nmea in: $SNTTA,0.163046,,,,191119.88*46

2021-08-15T19:11:20.011Z,1629054680.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 12.972514 deg, deltaT: 4.457305 s, approachRate: 0.053845 m/s, LOS rate: -22.308427 deg/s, posRepo size: 4
2021-08-15T19:11:22.409Z,1629054682.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:22.761Z,1629054682.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:22.761Z,1629054682.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:22.762Z,1629054682.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:22.763Z,1629054682.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:23.169Z,1629054683.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00722,189,80,80,92,FF
2021-08-15T19:11:23.170Z,1629054683.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:23.170Z,1629054683.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:23.171Z,1629054683.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:23.573Z,1629054683.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:23.969Z,1629054683.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00729,189,80,80,A1,FF
2021-08-15T19:11:23.970Z,1629054683.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:24.428Z,1629054684.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 13.500860 deg, deltaT: 4.488632 s, approachRate: 0.093569 m/s, LOS rate: 0.117708 deg/s, posRepo size: 4
2021-08-15T19:11:26.823Z,1629054686.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:27.209Z,1629054687.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:27.209Z,1629054687.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:27.210Z,1629054687.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:27.211Z,1629054687.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:27.605Z,1629054687.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00729,189,80,80,A1,FF
2021-08-15T19:11:27.605Z,1629054687.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:27.605Z,1629054687.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:27.607Z,1629054687.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:28.045Z,1629054688.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:28.417Z,1629054688.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,00731,18A,80,80,BE,FF
2021-08-15T19:11:28.418Z,1629054688.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:28.841Z,1629054688.841 [Micromodem](INFO): Nmea in: $SNTTA,0.063273,,,,191128.77*41

2021-08-15T19:11:28.875Z,1629054688.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.959999 m, bearing: 114.803008 deg, deltaT: 4.368521 s, approachRate: 0.109876 m/s, LOS rate: 23.189117 deg/s, posRepo size: 4
2021-08-15T19:11:31.283Z,1629054691.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:31.649Z,1629054691.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:31.649Z,1629054691.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:31.649Z,1629054691.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:31.650Z,1629054691.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:32.085Z,1629054692.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,00731,18A,80,80,BE,FF
2021-08-15T19:11:32.085Z,1629054692.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:32.086Z,1629054692.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:32.089Z,1629054692.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:32.465Z,1629054692.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:32.861Z,1629054692.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,00736,188,80,80,83,FF
2021-08-15T19:11:32.862Z,1629054692.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:33.279Z,1629054693.279 [Micromodem](INFO): Nmea in: $SNTTA,0.074923,,,,191133.25*44

2021-08-15T19:11:33.357Z,1629054693.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 117.577021 deg, deltaT: 4.485983 s, approachRate: 0.066876 m/s, LOS rate: 0.618374 deg/s, posRepo size: 4
2021-08-15T19:11:35.718Z,1629054695.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:36.121Z,1629054696.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:36.121Z,1629054696.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:36.121Z,1629054696.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:36.122Z,1629054696.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:36.497Z,1629054696.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,00736,188,80,80,83,FF
2021-08-15T19:11:36.497Z,1629054696.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:36.497Z,1629054696.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:36.499Z,1629054696.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:36.906Z,1629054696.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:37.301Z,1629054697.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D37,000,0073B,18A,80,80,A1,FF
2021-08-15T19:11:37.302Z,1629054697.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:37.749Z,1629054697.749 [Micromodem](INFO): Nmea in: $SNTTA,0.073592,,,,191137.65*45

2021-08-15T19:11:37.812Z,1629054697.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.560005 m, bearing: 115.132783 deg, deltaT: 4.424298 s, approachRate: 0.067808 m/s, LOS rate: -0.552458 deg/s, posRepo size: 4
2021-08-15T19:11:40.202Z,1629054700.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:40.533Z,1629054700.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:40.533Z,1629054700.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:40.533Z,1629054700.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:40.534Z,1629054700.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:40.937Z,1629054700.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D37,000,0073B,18A,80,80,A1,FF
2021-08-15T19:11:40.937Z,1629054700.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:40.937Z,1629054700.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:40.939Z,1629054700.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:41.349Z,1629054701.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:41.784Z,1629054701.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,00744,189,80,80,89,FF
2021-08-15T19:11:41.786Z,1629054701.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:41.818Z,1629054701.818 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:11:42.169Z,1629054702.169 [Micromodem](INFO): Nmea in: $SNTTA,0.348048,0.348054,,,191142.09*54

2021-08-15T19:11:42.199Z,1629054702.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 115.997936 deg, deltaT: 4.509621 s, approachRate: 0.119744 m/s, LOS rate: 0.191846 deg/s, posRepo size: 4
2021-08-15T19:11:42.220Z,1629054702.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 74.10 m. Resuming terminal guidance.
2021-08-15T19:11:42.220Z,1629054702.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T19:11:42.596Z,1629054702.596 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T19:11:42.596Z,1629054702.596 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T19:11:42.596Z,1629054702.596 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T19:11:42.596Z,1629054702.596 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T19:11:42.596Z,1629054702.596 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T19:11:42.597Z,1629054702.597 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T19:11:42.597Z,1629054702.597 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T19:11:44.590Z,1629054704.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:44.976Z,1629054704.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:44.979Z,1629054704.979 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:44.979Z,1629054704.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:44.980Z,1629054704.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:45.389Z,1629054705.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,00744,189,80,80,89,FF
2021-08-15T19:11:45.389Z,1629054705.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:45.390Z,1629054705.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:45.391Z,1629054705.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:45.825Z,1629054705.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:46.201Z,1629054706.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,00745,189,80,80,C2,FF
2021-08-15T19:11:46.202Z,1629054706.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:46.629Z,1629054706.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191146.55*54

2021-08-15T19:11:46.664Z,1629054706.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.160004 m, bearing: 114.528148 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T19:11:46.665Z,1629054706.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 114.528148deg and heading rate command to 0 deg/s.
2021-08-15T19:11:49.079Z,1629054709.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:49.433Z,1629054709.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:49.433Z,1629054709.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:49.433Z,1629054709.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:49.434Z,1629054709.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:49.833Z,1629054709.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,00745,189,80,80,C2,FF
2021-08-15T19:11:49.833Z,1629054709.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:49.833Z,1629054709.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:49.835Z,1629054709.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:50.244Z,1629054710.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:50.638Z,1629054710.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00746,189,80,80,96,FF
2021-08-15T19:11:50.638Z,1629054710.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:51.101Z,1629054711.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191150.99*53

2021-08-15T19:11:51.135Z,1629054711.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 13.114536 deg, deltaT: 4.392512 s, approachRate: 0.013659 m/s, LOS rate: -23.087839 deg/s, posRepo size: 2
2021-08-15T19:11:51.135Z,1629054711.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.087839 deg/s. Setting heading cmd to target bearing of 13.114536deg and heading rate command to 0 deg/s.
2021-08-15T19:11:53.495Z,1629054713.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:53.865Z,1629054713.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:53.865Z,1629054713.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:53.865Z,1629054713.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:53.866Z,1629054713.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:54.282Z,1629054714.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00746,189,80,80,96,FF
2021-08-15T19:11:54.282Z,1629054714.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:54.282Z,1629054714.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:54.285Z,1629054714.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:54.683Z,1629054714.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:55.117Z,1629054715.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D59,000,00744,18A,80,80,B9,FF
2021-08-15T19:11:55.118Z,1629054715.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:55.514Z,1629054715.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191155.44*56

2021-08-15T19:11:55.535Z,1629054715.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 113.797386 deg, deltaT: 4.516624 s, approachRate: -0.026567 m/s, LOS rate: 22.291617 deg/s, posRepo size: 3
2021-08-15T19:11:55.536Z,1629054715.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.291617 deg/s. Setting heading cmd to target bearing of 113.797386deg and heading rate command to 0 deg/s.
2021-08-15T19:11:57.948Z,1629054717.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:11:58.310Z,1629054718.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:11:58.310Z,1629054718.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:11:58.310Z,1629054718.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:11:58.311Z,1629054718.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:11:58.717Z,1629054718.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D59,000,00744,18A,80,80,B9,FF
2021-08-15T19:11:58.717Z,1629054718.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:11:58.717Z,1629054718.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:11:58.719Z,1629054718.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:11:59.127Z,1629054719.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:11:59.521Z,1629054719.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C4,000,00746,189,80,80,63,FF
2021-08-15T19:11:59.522Z,1629054719.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:11:59.943Z,1629054719.943 [Micromodem](INFO): Nmea in: $SNTTA,0.064372,0.456041,,,191159.88*5C

2021-08-15T19:12:00.015Z,1629054720.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 28.422347 deg, deltaT: 4.416126 s, approachRate: 0.027172 m/s, LOS rate: -19.332565 deg/s, posRepo size: 4
2021-08-15T19:12:00.024Z,1629054720.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.332565 deg/s. Setting heading cmd to target bearing of 28.422347deg and heading rate command to 0 deg/s.
2021-08-15T19:12:01.977Z,1629054721.977 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T19:12:02.430Z,1629054722.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:02.757Z,1629054722.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:02.757Z,1629054722.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:02.757Z,1629054722.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:02.758Z,1629054722.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:03.169Z,1629054723.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C4,000,00746,189,80,80,63,FF
2021-08-15T19:12:03.169Z,1629054723.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:03.169Z,1629054723.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:03.173Z,1629054723.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:03.564Z,1629054723.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:03.961Z,1629054723.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CC,000,00745,186,80,80,9F,FF
2021-08-15T19:12:03.962Z,1629054723.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:04.397Z,1629054724.397 [Micromodem](INFO): Nmea in: $SNTTA,0.061745,,,,191204.33*4E

2021-08-15T19:12:04.447Z,1629054724.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.160004 m, bearing: 87.087815 deg, deltaT: 4.492946 s, approachRate: -0.013354 m/s, LOS rate: 13.057238 deg/s, posRepo size: 4
2021-08-15T19:12:04.452Z,1629054724.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.057238 deg/s. Setting heading cmd to target bearing of 87.087815deg and heading rate command to 0 deg/s.
2021-08-15T19:12:06.850Z,1629054726.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:07.209Z,1629054727.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:07.209Z,1629054727.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:07.209Z,1629054727.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:07.210Z,1629054727.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:07.610Z,1629054727.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CC,000,00745,186,80,80,9F,FF
2021-08-15T19:12:07.610Z,1629054727.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:07.610Z,1629054727.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:07.612Z,1629054727.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:08.017Z,1629054728.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:08.417Z,1629054728.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,0075A,187,80,80,87,FF
2021-08-15T19:12:08.418Z,1629054728.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:08.849Z,1629054728.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191208.77*5D

2021-08-15T19:12:08.889Z,1629054728.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 89.334373 deg, deltaT: 4.348964 s, approachRate: 0.289725 m/s, LOS rate: 0.516573 deg/s, posRepo size: 4
2021-08-15T19:12:11.265Z,1629054731.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:11.645Z,1629054731.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:11.646Z,1629054731.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:11.646Z,1629054731.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:11.647Z,1629054731.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:12.048Z,1629054732.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,0075A,187,80,80,87,FF
2021-08-15T19:12:12.049Z,1629054732.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:12.050Z,1629054732.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:12.055Z,1629054732.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:12.466Z,1629054732.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:12.853Z,1629054732.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,468,000,00763,189,80,80,BA,FF
2021-08-15T19:12:12.854Z,1629054732.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:13.301Z,1629054733.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191213.21*54

2021-08-15T19:12:13.340Z,1629054733.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 32.598212 deg, deltaT: 4.512339 s, approachRate: 0.119670 m/s, LOS rate: -12.573559 deg/s, posRepo size: 4
2021-08-15T19:12:13.341Z,1629054733.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.573559 deg/s. Setting heading cmd to target bearing of 32.598212deg and heading rate command to 0 deg/s.
2021-08-15T19:12:15.715Z,1629054735.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:16.117Z,1629054736.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:16.117Z,1629054736.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:16.117Z,1629054736.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:16.118Z,1629054736.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:16.493Z,1629054736.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
468,000,00763,189,80,80,BA,FF
2021-08-15T19:12:16.493Z,1629054736.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:16.493Z,1629054736.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:16.495Z,1629054736.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:16.903Z,1629054736.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:17.297Z,1629054737.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,0076A,189,80,80,7E,FF
2021-08-15T19:12:17.298Z,1629054737.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:17.761Z,1629054737.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191217.65*50

2021-08-15T19:12:17.805Z,1629054737.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.380005 m, bearing: 26.618326 deg, deltaT: 4.429241 s, approachRate: 0.094826 m/s, LOS rate: -1.350093 deg/s, posRepo size: 4
2021-08-15T19:12:20.214Z,1629054740.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:20.529Z,1629054740.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:20.529Z,1629054740.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:20.529Z,1629054740.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:20.530Z,1629054740.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:20.937Z,1629054740.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,0076A,189,80,80,7E,FF
2021-08-15T19:12:20.937Z,1629054740.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:20.937Z,1629054740.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:20.939Z,1629054740.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:21.354Z,1629054741.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:21.754Z,1629054741.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00764,189,80,80,92,FF
2021-08-15T19:12:21.755Z,1629054741.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:21.801Z,1629054741.801 [Micromodem](INFO): Nmea in: $SNTTA,0.306868,0.306924,,,191222.10*5D

2021-08-15T19:12:22.195Z,1629054742.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 2.749243 deg, deltaT: 4.495654 s, approachRate: -0.080077 m/s, LOS rate: -5.309368 deg/s, posRepo size: 4
2021-08-15T19:12:24.599Z,1629054744.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:24.973Z,1629054744.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:24.973Z,1629054744.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:24.973Z,1629054744.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:24.974Z,1629054744.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:25.381Z,1629054745.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00764,189,80,80,92,FF
2021-08-15T19:12:25.381Z,1629054745.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:25.381Z,1629054745.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:25.383Z,1629054745.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:25.832Z,1629054745.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:26.185Z,1629054746.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00757,189,80,80,BE,FF
2021-08-15T19:12:26.186Z,1629054746.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:26.629Z,1629054746.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191226.54*50

2021-08-15T19:12:26.651Z,1629054746.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.239998 m, bearing: 346.936918 deg, deltaT: 4.494596 s, approachRate: -0.173543 m/s, LOS rate: -3.518073 deg/s, posRepo size: 4
2021-08-15T19:12:27.226Z,1629054747.226 [CTD_Seabird](ERROR): Failed to parse device response: 2,4.79897,4929.94
2021-08-15T19:12:29.136Z,1629054749.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:29.425Z,1629054749.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:29.425Z,1629054749.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:29.426Z,1629054749.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:29.427Z,1629054749.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:29.841Z,1629054749.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00757,189,80,80,BE,FF
2021-08-15T19:12:29.841Z,1629054749.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:29.841Z,1629054749.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:29.843Z,1629054749.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:30.241Z,1629054750.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:30.629Z,1629054750.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00744,189,80,80,9E,FF
2021-08-15T19:12:30.630Z,1629054750.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:31.069Z,1629054751.069 [Micromodem](INFO): Nmea in: $SNTTA,0.077902,,,,191231.00*42

2021-08-15T19:12:31.114Z,1629054751.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.100006 m, bearing: 352.885221 deg, deltaT: 4.280619 s, approachRate: -0.266315 m/s, LOS rate: 1.389589 deg/s, posRepo size: 4
2021-08-15T19:12:33.501Z,1629054753.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:33.865Z,1629054753.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:33.865Z,1629054753.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:33.865Z,1629054753.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:33.866Z,1629054753.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:34.277Z,1629054754.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00744,189,80,80,9E,FF
2021-08-15T19:12:34.277Z,1629054754.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:34.277Z,1629054754.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:34.279Z,1629054754.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:34.677Z,1629054754.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:35.094Z,1629054755.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00721,189,80,80,B5,FF
2021-08-15T19:12:35.094Z,1629054755.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:35.510Z,1629054755.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191235.44*53

2021-08-15T19:12:35.535Z,1629054755.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 348.175505 deg, deltaT: 4.475066 s, approachRate: -0.469268 m/s, LOS rate: -1.052435 deg/s, posRepo size: 4
2021-08-15T19:12:37.951Z,1629054757.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:38.318Z,1629054758.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:38.318Z,1629054758.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:38.318Z,1629054758.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:38.319Z,1629054758.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:38.348Z,1629054758.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00721,189,80,80,B5,FF
2021-08-15T19:12:38.348Z,1629054758.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:38.348Z,1629054758.348 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:38.350Z,1629054758.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:38.712Z,1629054758.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:39.133Z,1629054759.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,006FC,185,80,80,7E,FF
2021-08-15T19:12:39.134Z,1629054759.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:39.539Z,1629054759.539 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191239.51*5B

2021-08-15T19:12:39.599Z,1629054759.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.780006 m, bearing: 353.164247 deg, deltaT: 4.072459 s, approachRate: -0.545124 m/s, LOS rate: 1.224995 deg/s, posRepo size: 4
2021-08-15T19:12:39.937Z,1629054759.937 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,191240,COPR74
 expected 46
2021-08-15T19:12:41.982Z,1629054761.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:42.361Z,1629054762.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:42.362Z,1629054762.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:42.362Z,1629054762.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:42.363Z,1629054762.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:42.746Z,1629054762.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,006FC,185,80,80,7E,FF
2021-08-15T19:12:42.746Z,1629054762.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:42.746Z,1629054762.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:42.747Z,1629054762.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:43.168Z,1629054763.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:43.565Z,1629054763.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,006D3,183,80,80,9D,FF
2021-08-15T19:12:43.566Z,1629054763.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:44.009Z,1629054764.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191243.91*5A

2021-08-15T19:12:44.091Z,1629054764.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.320007 m, bearing: 355.228576 deg, deltaT: 4.387881 s, approachRate: -0.560635 m/s, LOS rate: 0.470462 deg/s, posRepo size: 4
2021-08-15T19:12:46.091Z,1629054766.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:46.409Z,1629054766.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:46.409Z,1629054766.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:46.409Z,1629054766.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:46.410Z,1629054766.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:46.793Z,1629054766.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,006D3,183,80,80,9D,FF
2021-08-15T19:12:46.794Z,1629054766.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:46.795Z,1629054766.795 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:46.810Z,1629054766.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:47.208Z,1629054767.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:47.597Z,1629054767.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,006AD,183,80,80,88,FF
2021-08-15T19:12:47.598Z,1629054767.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:48.042Z,1629054768.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191247.97*58

2021-08-15T19:12:48.122Z,1629054768.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.040001 m, bearing: 353.400982 deg, deltaT: 4.059877 s, approachRate: -0.561595 m/s, LOS rate: -0.450160 deg/s, posRepo size: 4
2021-08-15T19:12:50.466Z,1629054770.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:50.829Z,1629054770.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:50.829Z,1629054770.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:50.829Z,1629054770.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:50.830Z,1629054770.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:51.254Z,1629054771.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,006AD,183,80,80,88,FF
2021-08-15T19:12:51.254Z,1629054771.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:51.255Z,1629054771.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:51.257Z,1629054771.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:51.734Z,1629054771.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:51.766Z,1629054771.766 [Micromodem](INFO): Nmea in: 59

2021-08-15T19:12:51.767Z,1629054771.767 [Micromodem](ERROR): Response from modem failed NMEA checksum: 59
 expected 0
2021-08-15T19:12:52.136Z,1629054772.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,0067E,186,80,80,8A,FF
2021-08-15T19:12:52.137Z,1629054772.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:52.563Z,1629054772.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 351.884570 deg, deltaT: 4.523190 s, approachRate: -0.623452 m/s, LOS rate: -0.335253 deg/s, posRepo size: 4
2021-08-15T19:12:54.974Z,1629054774.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:55.361Z,1629054775.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:55.361Z,1629054775.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:55.361Z,1629054775.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:55.362Z,1629054775.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:12:55.777Z,1629054775.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,0067E,186,80,80,8A,FF
2021-08-15T19:12:55.777Z,1629054775.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:12:55.778Z,1629054775.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:12:55.785Z,1629054775.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:12:56.177Z,1629054776.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:12:56.562Z,1629054776.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,0064D,184,80,80,97,FF
2021-08-15T19:12:56.562Z,1629054776.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:12:57.001Z,1629054777.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191256.94*5B

2021-08-15T19:12:57.021Z,1629054777.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 352.244877 deg, deltaT: 4.454681 s, approachRate: -0.659981 m/s, LOS rate: 0.080883 deg/s, posRepo size: 4
2021-08-15T19:12:59.437Z,1629054779.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:12:59.825Z,1629054779.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:12:59.825Z,1629054779.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:12:59.826Z,1629054779.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:12:59.827Z,1629054779.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:00.205Z,1629054780.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,0064D,184,80,80,97,FF
2021-08-15T19:13:00.205Z,1629054780.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:00.205Z,1629054780.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:00.207Z,1629054780.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:00.613Z,1629054780.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:01.029Z,1629054781.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0061D,185,80,80,83,FF
2021-08-15T19:13:01.030Z,1629054781.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:01.461Z,1629054781.461 [Micromodem](INFO): Nmea in: $SNTTA,0.059483,,,,191301.37*4C

2021-08-15T19:13:01.486Z,1629054781.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 352.968549 deg, deltaT: 4.473565 s, approachRate: -0.643781 m/s, LOS rate: 0.161766 deg/s, posRepo size: 4
2021-08-15T19:13:03.879Z,1629054783.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:04.237Z,1629054784.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:04.237Z,1629054784.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:04.238Z,1629054784.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:04.239Z,1629054784.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:04.641Z,1629054784.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0061D,185,80,80,83,FF
2021-08-15T19:13:04.641Z,1629054784.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:04.641Z,1629054784.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:04.643Z,1629054784.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:05.083Z,1629054785.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:05.449Z,1629054785.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,005F1,184,80,80,71,FF
2021-08-15T19:13:05.450Z,1629054785.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:05.902Z,1629054785.902 [Micromodem](INFO): Nmea in: $SNTTA,0.035610,,,,191305.80*46

2021-08-15T19:13:05.959Z,1629054785.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 352.324353 deg, deltaT: 4.392642 s, approachRate: -0.601008 m/s, LOS rate: -0.146653 deg/s, posRepo size: 4
2021-08-15T19:13:08.361Z,1629054788.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:08.681Z,1629054788.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:08.681Z,1629054788.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:08.681Z,1629054788.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:08.682Z,1629054788.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:09.130Z,1629054789.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,005F1,184,80,80,71,FF
2021-08-15T19:13:09.130Z,1629054789.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:09.130Z,1629054789.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:09.133Z,1629054789.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:09.500Z,1629054789.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:09.907Z,1629054789.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,005C2,185,80,80,85,FF
2021-08-15T19:13:09.908Z,1629054789.908 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:09.912Z,1629054789.912 [Micromodem](INFO): Nmea in: $SNTTA,0.247321,0.248071,,,191310.29*57

2021-08-15T19:13:10.361Z,1629054790.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 352.553383 deg, deltaT: 4.510585 s, approachRate: -0.625195 m/s, LOS rate: 0.050776 deg/s, posRepo size: 4
2021-08-15T19:13:12.754Z,1629054792.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:13.133Z,1629054793.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:13.133Z,1629054793.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:13.133Z,1629054793.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:13.134Z,1629054793.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:13.537Z,1629054793.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,005C2,185,80,80,85,FF
2021-08-15T19:13:13.537Z,1629054793.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:13.538Z,1629054793.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:13.539Z,1629054793.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:13.941Z,1629054793.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:14.354Z,1629054794.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,00598,184,80,80,56,FF
2021-08-15T19:13:14.354Z,1629054794.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:14.777Z,1629054794.777 [Micromodem](INFO): Nmea in: $SNTTA,0.068055,,,,191314.70*46

2021-08-15T19:13:14.831Z,1629054794.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.419998 m, bearing: 353.057942 deg, deltaT: 4.400610 s, approachRate: -0.572648 m/s, LOS rate: 0.114657 deg/s, posRepo size: 4
2021-08-15T19:13:17.193Z,1629054797.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:17.577Z,1629054797.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:17.578Z,1629054797.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:17.578Z,1629054797.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:17.579Z,1629054797.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:17.973Z,1629054797.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,00598,184,80,80,56,FF
2021-08-15T19:13:17.973Z,1629054797.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:17.973Z,1629054797.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:17.975Z,1629054797.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:18.497Z,1629054798.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:18.874Z,1629054798.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00568,185,80,80,9E,FF
2021-08-15T19:13:18.875Z,1629054798.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:19.343Z,1629054799.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.540001 m, bearing: 353.652988 deg, deltaT: 4.532012 s, approachRate: -0.635479 m/s, LOS rate: 0.131298 deg/s, posRepo size: 4
2021-08-15T19:13:21.794Z,1629054801.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:22.122Z,1629054802.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:22.122Z,1629054802.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:22.122Z,1629054802.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:22.123Z,1629054802.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:22.517Z,1629054802.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00568,185,80,80,9E,FF
2021-08-15T19:13:22.517Z,1629054802.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:22.517Z,1629054802.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:22.519Z,1629054802.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:22.931Z,1629054802.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:23.330Z,1629054803.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00536,184,80,80,B5,FF
2021-08-15T19:13:23.331Z,1629054803.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:23.802Z,1629054803.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191323.68*5B

2021-08-15T19:13:23.852Z,1629054803.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 352.558601 deg, deltaT: 4.448919 s, approachRate: -0.674321 m/s, LOS rate: -0.245990 deg/s, posRepo size: 4
2021-08-15T19:13:26.191Z,1629054806.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:26.549Z,1629054806.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:26.549Z,1629054806.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:26.549Z,1629054806.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:26.550Z,1629054806.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:26.961Z,1629054806.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00536,184,80,80,B5,FF
2021-08-15T19:13:26.961Z,1629054806.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:26.962Z,1629054806.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:26.963Z,1629054806.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:27.373Z,1629054807.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:27.794Z,1629054807.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,0050C,184,80,80,69,FF
2021-08-15T19:13:27.794Z,1629054807.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:28.205Z,1629054808.205 [Micromodem](INFO): Nmea in: $SNTTA,0.052612,,,,191328.12*41

2021-08-15T19:13:28.250Z,1629054808.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 354.243062 deg, deltaT: 4.514450 s, approachRate: -0.558208 m/s, LOS rate: 0.373127 deg/s, posRepo size: 4
2021-08-15T19:13:30.631Z,1629054810.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:30.997Z,1629054810.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:30.997Z,1629054810.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:30.997Z,1629054810.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:30.998Z,1629054810.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:31.405Z,1629054811.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,0050C,184,80,80,69,FF
2021-08-15T19:13:31.405Z,1629054811.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:31.405Z,1629054811.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:31.407Z,1629054811.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:31.858Z,1629054811.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:32.209Z,1629054812.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,033,000,004D9,185,80,80,B6,FF
2021-08-15T19:13:32.209Z,1629054812.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:32.649Z,1629054812.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191332.57*57

2021-08-15T19:13:32.717Z,1629054812.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 353.865517 deg, deltaT: 4.343232 s, approachRate: -0.704544 m/s, LOS rate: -0.086927 deg/s, posRepo size: 4
2021-08-15T19:13:32.718Z,1629054812.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.96 m.
2021-08-15T19:13:33.077Z,1629054813.077 [PowerOnly](INFO): Powering up loadControl
2021-08-15T19:13:33.122Z,1629054813.122 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:13:33.123Z,1629054813.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:13:33.123Z,1629054813.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:13:33.124Z,1629054813.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:13:33.124Z,1629054813.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:13:33.124Z,1629054813.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:13:33.482Z,1629054813.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:13:33.482Z,1629054813.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:13:33.482Z,1629054813.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:13:33.483Z,1629054813.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:13:35.110Z,1629054815.110 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:35.449Z,1629054815.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:35.449Z,1629054815.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:35.449Z,1629054815.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:35.450Z,1629054815.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:35.849Z,1629054815.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
033,000,004D9,185,80,80,B6,FF
2021-08-15T19:13:35.850Z,1629054815.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:35.850Z,1629054815.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:35.851Z,1629054815.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:36.249Z,1629054816.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:36.649Z,1629054816.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,004AF,186,80,80,79,FF
2021-08-15T19:13:36.649Z,1629054816.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:36.675Z,1629054816.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:37.093Z,1629054817.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191337.01*51

2021-08-15T19:13:37.133Z,1629054817.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 350.394988 deg, deltaT: 4.435982 s, approachRate: -0.568082 m/s, LOS rate: -0.782359 deg/s, posRepo size: 4
2021-08-15T19:13:37.134Z,1629054817.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.44 m.
2021-08-15T19:13:39.519Z,1629054819.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:39.885Z,1629054819.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:39.885Z,1629054819.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:39.885Z,1629054819.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:39.886Z,1629054819.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:40.285Z,1629054820.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,004AF,186,80,80,79,FF
2021-08-15T19:13:40.285Z,1629054820.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:40.285Z,1629054820.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:40.287Z,1629054820.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:40.697Z,1629054820.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:41.117Z,1629054821.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,0047D,184,80,80,60,FF
2021-08-15T19:13:41.117Z,1629054821.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:41.174Z,1629054821.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:41.533Z,1629054821.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191341.45*50

2021-08-15T19:13:41.571Z,1629054821.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 349.955780 deg, deltaT: 4.499483 s, approachRate: -0.666742 m/s, LOS rate: -0.097613 deg/s, posRepo size: 4
2021-08-15T19:13:41.576Z,1629054821.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.44 m.
2021-08-15T19:13:43.972Z,1629054823.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:44.330Z,1629054824.330 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:44.330Z,1629054824.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:44.330Z,1629054824.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:44.331Z,1629054824.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:44.729Z,1629054824.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,0047D,184,80,80,60,FF
2021-08-15T19:13:44.729Z,1629054824.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:44.729Z,1629054824.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:44.731Z,1629054824.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:45.153Z,1629054825.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:45.541Z,1629054825.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00456,184,80,80,91,FF
2021-08-15T19:13:45.541Z,1629054825.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:45.589Z,1629054825.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:46.001Z,1629054826.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191345.89*54

2021-08-15T19:13:46.101Z,1629054826.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 349.368957 deg, deltaT: 4.415195 s, approachRate: -0.529989 m/s, LOS rate: -0.132910 deg/s, posRepo size: 4
2021-08-15T19:13:46.102Z,1629054826.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.10 m.
2021-08-15T19:13:46.102Z,1629054826.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.10 m.
2021-08-15T19:13:46.102Z,1629054826.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T19:13:48.421Z,1629054828.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:48.773Z,1629054828.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:48.773Z,1629054828.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:48.774Z,1629054828.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:48.775Z,1629054828.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:49.173Z,1629054829.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00456,184,80,80,91,FF
2021-08-15T19:13:49.173Z,1629054829.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:49.173Z,1629054829.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:49.175Z,1629054829.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:49.580Z,1629054829.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:49.985Z,1629054829.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,0042A,184,80,80,A8,FF
2021-08-15T19:13:49.986Z,1629054829.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:50.131Z,1629054830.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:50.421Z,1629054830.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191350.33*51

2021-08-15T19:13:50.456Z,1629054830.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 348.364346 deg, deltaT: 4.541215 s, approachRate: -0.581342 m/s, LOS rate: -0.221221 deg/s, posRepo size: 4
2021-08-15T19:13:52.835Z,1629054832.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:53.219Z,1629054833.219 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:53.219Z,1629054833.219 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:53.219Z,1629054833.219 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:53.220Z,1629054833.220 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:53.633Z,1629054833.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,0042A,184,80,80,A8,FF
2021-08-15T19:13:53.634Z,1629054833.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:53.634Z,1629054833.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:53.635Z,1629054833.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:54.032Z,1629054834.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:54.425Z,1629054834.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003FF,185,80,80,62,FF
2021-08-15T19:13:54.425Z,1629054834.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:54.476Z,1629054834.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:54.865Z,1629054834.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191354.79*5B

2021-08-15T19:13:54.888Z,1629054834.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 347.171549 deg, deltaT: 4.345601 s, approachRate: -0.593704 m/s, LOS rate: -0.274484 deg/s, posRepo size: 4
2021-08-15T19:13:57.282Z,1629054837.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:13:57.653Z,1629054837.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:13:57.654Z,1629054837.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:13:57.654Z,1629054837.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:13:57.655Z,1629054837.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:13:58.080Z,1629054838.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003FF,185,80,80,62,FF
2021-08-15T19:13:58.080Z,1629054838.080 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:13:58.080Z,1629054838.080 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:13:58.082Z,1629054838.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:13:58.483Z,1629054838.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:13:58.878Z,1629054838.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,003D6,183,80,80,9B,FF
2021-08-15T19:13:58.878Z,1629054838.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:13:58.926Z,1629054838.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:13:59.297Z,1629054839.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191359.24*5E

2021-08-15T19:13:59.351Z,1629054839.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.420002 m, bearing: 347.925766 deg, deltaT: 4.449617 s, approachRate: -0.552856 m/s, LOS rate: 0.169502 deg/s, posRepo size: 4
2021-08-15T19:14:01.800Z,1629054841.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:02.132Z,1629054842.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:02.132Z,1629054842.132 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:02.133Z,1629054842.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:02.134Z,1629054842.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:02.513Z,1629054842.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,003D6,183,80,80,9B,FF
2021-08-15T19:14:02.513Z,1629054842.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:02.513Z,1629054842.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:02.515Z,1629054842.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:02.935Z,1629054842.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:03.318Z,1629054843.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,003AA,182,80,80,A4,FF
2021-08-15T19:14:03.318Z,1629054843.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:03.391Z,1629054843.391 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:03.800Z,1629054843.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 348.367569 deg, deltaT: 4.465398 s, approachRate: -0.591214 m/s, LOS rate: 0.098939 deg/s, posRepo size: 4
2021-08-15T19:14:06.193Z,1629054846.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:06.549Z,1629054846.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:06.549Z,1629054846.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:06.549Z,1629054846.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:06.550Z,1629054846.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:06.965Z,1629054846.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,003AA,182,80,80,A4,FF
2021-08-15T19:14:06.965Z,1629054846.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:06.965Z,1629054846.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:06.967Z,1629054846.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:07.373Z,1629054847.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:07.812Z,1629054847.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0037D,183,80,80,4E,FF
2021-08-15T19:14:07.813Z,1629054847.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:07.859Z,1629054847.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:08.193Z,1629054848.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191408.13*59

2021-08-15T19:14:08.252Z,1629054848.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 347.948524 deg, deltaT: 4.467833 s, approachRate: -0.604320 m/s, LOS rate: -0.093792 deg/s, posRepo size: 4
2021-08-15T19:14:10.610Z,1629054850.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:11.004Z,1629054851.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:11.004Z,1629054851.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:11.005Z,1629054851.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:11.005Z,1629054851.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:11.405Z,1629054851.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0037D,183,80,80,4E,FF
2021-08-15T19:14:11.405Z,1629054851.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:11.405Z,1629054851.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:11.407Z,1629054851.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:11.841Z,1629054851.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:12.205Z,1629054852.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00354,182,80,80,A3,FF
2021-08-15T19:14:12.206Z,1629054852.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:12.254Z,1629054852.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:12.637Z,1629054852.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191412.58*5D

2021-08-15T19:14:12.670Z,1629054852.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.619998 m, bearing: 348.911116 deg, deltaT: 4.395501 s, approachRate: -0.559663 m/s, LOS rate: 0.218995 deg/s, posRepo size: 4
2021-08-15T19:14:15.098Z,1629054855.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:15.445Z,1629054855.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:15.445Z,1629054855.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:15.445Z,1629054855.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:15.446Z,1629054855.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:15.838Z,1629054855.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00354,182,80,80,A3,FF
2021-08-15T19:14:15.838Z,1629054855.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:15.838Z,1629054855.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:15.845Z,1629054855.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:16.250Z,1629054856.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:16.665Z,1629054856.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,0032A,184,80,80,B2,FF
2021-08-15T19:14:16.665Z,1629054856.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:16.716Z,1629054856.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:17.109Z,1629054857.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191417.01*54

2021-08-15T19:14:17.156Z,1629054857.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 349.003351 deg, deltaT: 4.461933 s, approachRate: -0.564777 m/s, LOS rate: 0.020672 deg/s, posRepo size: 4
2021-08-15T19:14:19.491Z,1629054859.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:19.881Z,1629054859.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:19.881Z,1629054859.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:19.882Z,1629054859.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:19.883Z,1629054859.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:20.281Z,1629054860.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,0032A,184,80,80,B2,FF
2021-08-15T19:14:20.281Z,1629054860.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:20.281Z,1629054860.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:20.283Z,1629054860.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:20.697Z,1629054860.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:21.117Z,1629054861.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00302,184,80,80,C3,FF
2021-08-15T19:14:21.117Z,1629054861.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:21.194Z,1629054861.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:21.526Z,1629054861.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191421.44*50

2021-08-15T19:14:21.591Z,1629054861.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 351.702614 deg, deltaT: 4.477617 s, approachRate: -0.536000 m/s, LOS rate: 0.602835 deg/s, posRepo size: 4
2021-08-15T19:14:23.973Z,1629054863.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:24.334Z,1629054864.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:24.334Z,1629054864.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:24.335Z,1629054864.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:24.335Z,1629054864.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:24.725Z,1629054864.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00302,184,80,80,C3,FF
2021-08-15T19:14:24.725Z,1629054864.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:24.725Z,1629054864.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:24.727Z,1629054864.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:25.136Z,1629054865.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:25.541Z,1629054865.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,002DE,184,80,80,B9,FF
2021-08-15T19:14:25.542Z,1629054865.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:25.561Z,1629054865.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:25.973Z,1629054865.973 [Micromodem](INFO): Nmea in: $SNTTA,0.039477,,,,191425.89*45

2021-08-15T19:14:26.070Z,1629054866.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 353.144331 deg, deltaT: 4.367313 s, approachRate: -0.494583 m/s, LOS rate: 0.330115 deg/s, posRepo size: 4
2021-08-15T19:14:28.419Z,1629054868.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:28.781Z,1629054868.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:28.781Z,1629054868.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:28.781Z,1629054868.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:28.782Z,1629054868.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:29.169Z,1629054869.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,002DE,184,80,80,B9,FF
2021-08-15T19:14:29.169Z,1629054869.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:29.169Z,1629054869.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:29.171Z,1629054869.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:29.585Z,1629054869.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:29.977Z,1629054869.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,002BF,184,80,80,C3,FF
2021-08-15T19:14:29.977Z,1629054869.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:30.094Z,1629054870.094 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:30.418Z,1629054870.418 [Micromodem](INFO): Nmea in: $SNTTA,0.121479,,,,191430.33*46

2021-08-15T19:14:30.442Z,1629054870.442 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T19:14:30.442Z,1629054870.442 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T19:14:30.442Z,1629054870.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T19:14:30.442Z,1629054870.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:14:30.442Z,1629054870.442 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T19:14:30.443Z,1629054870.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-15T19:14:30.443Z,1629054870.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T19:14:30.443Z,1629054870.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T19:14:30.443Z,1629054870.443 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T19:14:30.446Z,1629054870.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 356.575490 deg, deltaT: 4.532185 s, approachRate: -0.410398 m/s, LOS rate: 0.757065 deg/s, posRepo size: 4
2021-08-15T19:14:30.811Z,1629054870.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T191430: (41.552319, -70.708603)
2021-08-15T19:14:30.811Z,1629054870.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T19:14:30.811Z,1629054870.811 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T19:14:30.812Z,1629054870.812 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T19:14:32.846Z,1629054872.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:33.209Z,1629054873.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:33.209Z,1629054873.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:33.209Z,1629054873.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:33.210Z,1629054873.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:33.613Z,1629054873.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,002BF,184,80,80,C3,FF
2021-08-15T19:14:33.613Z,1629054873.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:33.613Z,1629054873.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:33.615Z,1629054873.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:34.034Z,1629054874.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:34.421Z,1629054874.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,002B4,189,80,80,90,FF
2021-08-15T19:14:34.421Z,1629054874.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:34.473Z,1629054874.473 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:34.869Z,1629054874.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191434.77*54

2021-08-15T19:14:34.891Z,1629054874.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.020000 m, bearing: 317.270183 deg, deltaT: 4.379795 s, approachRate: -0.150692 m/s, LOS rate: -8.974234 deg/s, posRepo size: 4
2021-08-15T19:14:37.289Z,1629054877.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:37.653Z,1629054877.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:37.653Z,1629054877.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:37.653Z,1629054877.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:37.654Z,1629054877.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:38.081Z,1629054878.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,002B4,189,80,80,90,FF
2021-08-15T19:14:38.081Z,1629054878.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:38.082Z,1629054878.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:38.088Z,1629054878.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:38.473Z,1629054878.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:38.873Z,1629054878.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,002CA,186,80,80,AE,FF
2021-08-15T19:14:38.873Z,1629054878.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:38.913Z,1629054878.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:39.290Z,1629054879.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191439.25*5E

2021-08-15T19:14:39.341Z,1629054879.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 5.942508 deg, deltaT: 4.440151 s, approachRate: 0.297287 m/s, LOS rate: 10.961863 deg/s, posRepo size: 4
2021-08-15T19:14:41.732Z,1629054881.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:42.133Z,1629054882.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:42.133Z,1629054882.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:42.133Z,1629054882.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:42.134Z,1629054882.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:42.501Z,1629054882.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,002CA,186,80,80,AE,FF
2021-08-15T19:14:42.501Z,1629054882.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:42.501Z,1629054882.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:42.503Z,1629054882.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:42.909Z,1629054882.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:43.310Z,1629054883.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00303,186,80,80,A0,FF
2021-08-15T19:14:43.310Z,1629054883.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:43.374Z,1629054883.374 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:43.774Z,1629054883.774 [Micromodem](INFO): Nmea in: $SNTTA,0.033045,,,,191443.66*4B

2021-08-15T19:14:43.846Z,1629054883.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.759999 m, bearing: 358.059171 deg, deltaT: 4.460409 s, approachRate: 0.766746 m/s, LOS rate: -1.767403 deg/s, posRepo size: 4
2021-08-15T19:14:46.196Z,1629054886.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:46.545Z,1629054886.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:46.546Z,1629054886.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:46.546Z,1629054886.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:46.547Z,1629054886.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:46.980Z,1629054886.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00303,186,80,80,A0,FF
2021-08-15T19:14:46.980Z,1629054886.980 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:46.980Z,1629054886.980 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:46.982Z,1629054886.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:47.365Z,1629054887.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:47.788Z,1629054887.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00324,186,80,80,87,FF
2021-08-15T19:14:47.789Z,1629054887.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:47.867Z,1629054887.867 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:48.178Z,1629054888.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191448.14*5A

2021-08-15T19:14:48.217Z,1629054888.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 339.773498 deg, deltaT: 4.492946 s, approachRate: 0.440690 m/s, LOS rate: -4.069863 deg/s, posRepo size: 4
2021-08-15T19:14:50.608Z,1629054890.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:50.985Z,1629054890.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:50.985Z,1629054890.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:50.985Z,1629054890.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:50.986Z,1629054890.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:51.383Z,1629054891.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00324,186,80,80,87,FF
2021-08-15T19:14:51.383Z,1629054891.383 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:51.383Z,1629054891.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:51.385Z,1629054891.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:51.837Z,1629054891.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:52.209Z,1629054892.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,00340,186,80,80,7E,FF
2021-08-15T19:14:52.210Z,1629054892.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:52.279Z,1629054892.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:52.646Z,1629054892.646 [Micromodem](INFO): Nmea in: $SNTTA,0.007843,,,,191452.54*43

2021-08-15T19:14:52.667Z,1629054892.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.419999 m, bearing: 8.999709 deg, deltaT: 4.412025 s, approachRate: 0.380778 m/s, LOS rate: 6.624216 deg/s, posRepo size: 4
2021-08-15T19:14:52.668Z,1629054892.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.42 m. Rolling out.
2021-08-15T19:14:52.669Z,1629054892.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T19:14:53.104Z,1629054893.104 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T19:14:53.104Z,1629054893.104 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T19:14:53.105Z,1629054893.105 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T19:14:53.105Z,1629054893.105 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T19:14:53.105Z,1629054893.105 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T19:14:53.105Z,1629054893.105 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T19:14:53.105Z,1629054893.105 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T19:14:55.103Z,1629054895.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:55.433Z,1629054895.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:55.433Z,1629054895.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:55.433Z,1629054895.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:55.434Z,1629054895.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:14:55.833Z,1629054895.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,00340,186,80,80,7E,FF
2021-08-15T19:14:55.833Z,1629054895.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:14:55.833Z,1629054895.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:14:55.835Z,1629054895.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:14:56.245Z,1629054896.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:14:56.653Z,1629054896.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,00370,188,80,80,42,FF
2021-08-15T19:14:56.654Z,1629054896.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:14:56.751Z,1629054896.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:14:57.090Z,1629054897.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191457.00*51

2021-08-15T19:14:57.115Z,1629054897.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 21.395619 deg, deltaT: 4.472715 s, approachRate: 0.643904 m/s, LOS rate: 2.771451 deg/s, posRepo size: 4
2021-08-15T19:14:59.506Z,1629054899.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:14:59.877Z,1629054899.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:14:59.877Z,1629054899.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:14:59.877Z,1629054899.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:14:59.878Z,1629054899.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:00.277Z,1629054900.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,00370,188,80,80,42,FF
2021-08-15T19:15:00.277Z,1629054900.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:00.277Z,1629054900.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:00.279Z,1629054900.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:00.701Z,1629054900.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:01.125Z,1629054901.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,0039D,186,80,80,4F,FF
2021-08-15T19:15:01.125Z,1629054901.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:01.155Z,1629054901.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:01.517Z,1629054901.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191501.44*53

2021-08-15T19:15:01.552Z,1629054901.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 9.315839 deg, deltaT: 4.403439 s, approachRate: 0.613157 m/s, LOS rate: -2.743260 deg/s, posRepo size: 4
2021-08-15T19:15:03.997Z,1629054903.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:04.322Z,1629054904.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:04.322Z,1629054904.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:04.322Z,1629054904.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:04.323Z,1629054904.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:04.729Z,1629054904.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,0039D,186,80,80,4F,FF
2021-08-15T19:15:04.729Z,1629054904.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:04.729Z,1629054904.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:04.731Z,1629054904.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:05.133Z,1629054905.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:05.533Z,1629054905.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00392,187,80,80,82,FF
2021-08-15T19:15:05.534Z,1629054905.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:05.553Z,1629054905.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:05.969Z,1629054905.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191505.89*56

2021-08-15T19:15:06.020Z,1629054906.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.339998 m, bearing: 350.023153 deg, deltaT: 4.397690 s, approachRate: -0.150079 m/s, LOS rate: -4.387003 deg/s, posRepo size: 4
2021-08-15T19:15:07.557Z,1629054907.557 [PowerOnly](INFO): Powering down loadControl
2021-08-15T19:15:08.108Z,1629054908.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:08.357Z,1629054908.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:08.357Z,1629054908.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:08.358Z,1629054908.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:08.359Z,1629054908.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:08.767Z,1629054908.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00392,187,80,80,82,FF
2021-08-15T19:15:08.767Z,1629054908.767 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:08.767Z,1629054908.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:08.770Z,1629054908.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:09.168Z,1629054909.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:09.579Z,1629054909.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0039E,184,80,80,8C,FF
2021-08-15T19:15:09.579Z,1629054909.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:09.622Z,1629054909.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:09.985Z,1629054909.985 [Micromodem](INFO): Nmea in: $SNTTA,0.429275,0.429269,,,191509.93*5C

2021-08-15T19:15:10.081Z,1629054910.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 344.430348 deg, deltaT: 4.069532 s, approachRate: 0.176924 m/s, LOS rate: -1.374312 deg/s, posRepo size: 4
2021-08-15T19:15:12.414Z,1629054912.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:12.797Z,1629054912.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:12.797Z,1629054912.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:12.798Z,1629054912.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:12.799Z,1629054912.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:13.205Z,1629054913.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0039E,184,80,80,8C,FF
2021-08-15T19:15:13.205Z,1629054913.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:13.206Z,1629054913.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:13.207Z,1629054913.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:13.615Z,1629054913.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:14.436Z,1629054914.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191514.37*53

2021-08-15T19:15:15.291Z,1629054915.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:16.838Z,1629054916.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,184,80,80,8C,FF
2021-08-15T19:15:16.838Z,1629054916.838 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,184,80,80,8C,FF
2021-08-15T19:15:16.838Z,1629054916.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:15:18.141Z,1629054918.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:18.457Z,1629054918.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:18.457Z,1629054918.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:18.457Z,1629054918.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:18.458Z,1629054918.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:18.869Z,1629054918.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,184,80,80,8C,FF
2021-08-15T19:15:18.869Z,1629054918.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:18.869Z,1629054918.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:18.871Z,1629054918.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:19.273Z,1629054919.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:19.674Z,1629054919.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,003C3,187,80,80,69,FF
2021-08-15T19:15:19.674Z,1629054919.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:19.701Z,1629054919.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:20.125Z,1629054920.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191520.03*53

2021-08-15T19:15:20.234Z,1629054920.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 348.819728 deg, deltaT: 10.079815 s, approachRate: 0.220242 m/s, LOS rate: 0.435462 deg/s, posRepo size: 4
2021-08-15T19:15:22.518Z,1629054922.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:22.901Z,1629054922.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:22.901Z,1629054922.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:22.901Z,1629054922.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:22.902Z,1629054922.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:23.306Z,1629054923.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,003C3,187,80,80,69,FF
2021-08-15T19:15:23.306Z,1629054923.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:23.306Z,1629054923.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:23.309Z,1629054923.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:23.713Z,1629054923.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:24.135Z,1629054924.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,003CA,186,80,80,7E,FF
2021-08-15T19:15:24.136Z,1629054924.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:24.139Z,1629054924.139 [Micromodem](INFO): Nmea in: $SNTTA,0.077653,0.159297,,,191524.47*56

2021-08-15T19:15:24.250Z,1629054924.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:24.552Z,1629054924.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 347.258483 deg, deltaT: 4.547593 s, approachRate: 0.092357 m/s, LOS rate: -0.343312 deg/s, posRepo size: 4
2021-08-15T19:15:26.989Z,1629054926.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:27.357Z,1629054927.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:27.357Z,1629054927.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:27.357Z,1629054927.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:27.358Z,1629054927.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:27.785Z,1629054927.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,003CA,186,80,80,7E,FF
2021-08-15T19:15:27.785Z,1629054927.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:27.785Z,1629054927.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:27.787Z,1629054927.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:28.169Z,1629054928.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:28.566Z,1629054928.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,003DB,186,80,80,56,FF
2021-08-15T19:15:28.566Z,1629054928.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:28.585Z,1629054928.585 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:28.997Z,1629054928.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191528.95*54

2021-08-15T19:15:29.035Z,1629054929.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 345.390044 deg, deltaT: 4.335261 s, approachRate: 0.235280 m/s, LOS rate: -0.430987 deg/s, posRepo size: 4
2021-08-15T19:15:31.428Z,1629054931.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:31.825Z,1629054931.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:31.825Z,1629054931.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:31.825Z,1629054931.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:31.826Z,1629054931.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:32.201Z,1629054932.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,003DB,186,80,80,56,FF
2021-08-15T19:15:32.201Z,1629054932.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:32.201Z,1629054932.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:32.203Z,1629054932.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:32.601Z,1629054932.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:33.013Z,1629054933.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00A89,186,80,80,75,FF
2021-08-15T19:15:33.014Z,1629054933.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:33.093Z,1629054933.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:33.454Z,1629054933.454 [Micromodem](INFO): Nmea in: $SNTTA,0.096354,,,,191533.36*44

2021-08-15T19:15:33.479Z,1629054933.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.320000 m, bearing: 353.210829 deg, deltaT: 4.507726 s, approachRate: 22.760921 m/s, LOS rate: 1.734973 deg/s, posRepo size: 4
2021-08-15T19:15:33.888Z,1629054933.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:15:33.888Z,1629054933.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:15:33.888Z,1629054933.888 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:15:33.889Z,1629054933.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:15:33.889Z,1629054933.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:15:33.889Z,1629054933.889 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:15:34.259Z,1629054934.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:15:34.259Z,1629054934.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:15:34.259Z,1629054934.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:15:34.259Z,1629054934.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:15:35.899Z,1629054935.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:36.241Z,1629054936.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:36.241Z,1629054936.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:36.241Z,1629054936.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:36.242Z,1629054936.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:36.637Z,1629054936.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00A89,186,80,80,75,FF
2021-08-15T19:15:36.637Z,1629054936.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:36.637Z,1629054936.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:36.639Z,1629054936.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:37.069Z,1629054937.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:37.450Z,1629054937.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,003D4,186,80,80,87,FF
2021-08-15T19:15:37.450Z,1629054937.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:37.873Z,1629054937.873 [Micromodem](INFO): Nmea in: $SNTTA,0.455260,0.454885,,,191537.80*5E

2021-08-15T19:15:37.929Z,1629054937.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 352.908498 deg, deltaT: 4.380610 s, approachRate: -23.517273 m/s, LOS rate: -0.069016 deg/s, posRepo size: 4
2021-08-15T19:15:38.291Z,1629054938.291 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:15:38.292Z,1629054938.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:15:38.292Z,1629054938.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:15:38.292Z,1629054938.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:15:38.293Z,1629054938.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:15:38.293Z,1629054938.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:15:38.705Z,1629054938.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:15:38.705Z,1629054938.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:15:38.705Z,1629054938.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:15:38.705Z,1629054938.705 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:15:40.345Z,1629054940.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:40.681Z,1629054940.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:40.681Z,1629054940.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:40.682Z,1629054940.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:40.682Z,1629054940.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:41.117Z,1629054941.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,003D4,186,80,80,87,FF
2021-08-15T19:15:41.117Z,1629054941.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:41.117Z,1629054941.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:41.119Z,1629054941.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:41.493Z,1629054941.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:41.893Z,1629054941.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,003DB,186,80,80,87,FF
2021-08-15T19:15:41.894Z,1629054941.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:41.983Z,1629054941.983 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:42.326Z,1629054942.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191542.28*5E

2021-08-15T19:15:42.371Z,1629054942.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 0.284905 deg, deltaT: 4.509518 s, approachRate: 0.093137 m/s, LOS rate: 1.635741 deg/s, posRepo size: 4
2021-08-15T19:15:44.734Z,1629054944.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:45.133Z,1629054945.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:45.133Z,1629054945.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:45.133Z,1629054945.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:45.134Z,1629054945.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:45.540Z,1629054945.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,003DB,186,80,80,87,FF
2021-08-15T19:15:45.540Z,1629054945.540 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:45.541Z,1629054945.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:45.542Z,1629054945.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:45.933Z,1629054945.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:46.338Z,1629054946.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,003DF,189,80,80,4B,FF
2021-08-15T19:15:46.338Z,1629054946.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:46.368Z,1629054946.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:46.769Z,1629054946.769 [Micromodem](INFO): Nmea in: $SNTTA,0.071793,,,,191546.70*42

2021-08-15T19:15:46.807Z,1629054946.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 9.433973 deg, deltaT: 4.385402 s, approachRate: 0.054726 m/s, LOS rate: 2.086255 deg/s, posRepo size: 4
2021-08-15T19:15:49.212Z,1629054949.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:49.565Z,1629054949.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:49.565Z,1629054949.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:49.565Z,1629054949.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:49.566Z,1629054949.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:49.978Z,1629054949.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,003DF,189,80,80,4B,FF
2021-08-15T19:15:49.978Z,1629054949.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:49.978Z,1629054949.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:49.980Z,1629054949.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:50.397Z,1629054950.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:50.797Z,1629054950.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD6,000,003E2,188,80,80,83,FF
2021-08-15T19:15:50.797Z,1629054950.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:15:50.817Z,1629054950.817 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:15:51.225Z,1629054951.225 [Micromodem](INFO): Nmea in: $SNTTA,0.046431,,,,191551.14*49

2021-08-15T19:15:51.264Z,1629054951.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 9.895543 deg, deltaT: 4.448902 s, approachRate: 0.040460 m/s, LOS rate: 0.103749 deg/s, posRepo size: 4
2021-08-15T19:15:53.654Z,1629054953.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:54.030Z,1629054954.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:54.030Z,1629054954.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:54.030Z,1629054954.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:54.031Z,1629054954.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:54.441Z,1629054954.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD6,000,003E2,188,80,80,83,FF
2021-08-15T19:15:54.441Z,1629054954.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:54.441Z,1629054954.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:54.443Z,1629054954.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:15:54.848Z,1629054954.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:15:55.682Z,1629054955.682 [Micromodem](INFO): Nmea in: $SNTTA,0.037293,,,,191555.60*46

2021-08-15T19:15:56.160Z,1629054956.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:58.121Z,1629054958.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,188,80,80,83,FF
2021-08-15T19:15:58.121Z,1629054958.121 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,188,80,80,83,FF
2021-08-15T19:15:58.122Z,1629054958.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:15:58.925Z,1629054958.925 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:15:59.301Z,1629054959.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:15:59.302Z,1629054959.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:15:59.302Z,1629054959.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:15:59.303Z,1629054959.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:15:59.703Z,1629054959.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,188,80,80,83,FF
2021-08-15T19:15:59.703Z,1629054959.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:15:59.703Z,1629054959.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:15:59.705Z,1629054959.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:00.137Z,1629054960.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:00.517Z,1629054960.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,003F7,187,80,80,50,FF
2021-08-15T19:16:00.517Z,1629054960.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:00.564Z,1629054960.564 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:00.981Z,1629054960.981 [Micromodem](INFO): Nmea in: $SNTTA,0.032475,,,,191600.87*47

2021-08-15T19:16:01.020Z,1629054961.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 8.654561 deg, deltaT: 9.747439 s, approachRate: 0.129265 m/s, LOS rate: -0.127314 deg/s, posRepo size: 4
2021-08-15T19:16:03.378Z,1629054963.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:03.748Z,1629054963.748 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:03.749Z,1629054963.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:03.749Z,1629054963.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:03.751Z,1629054963.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:04.153Z,1629054964.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,003F7,187,80,80,50,FF
2021-08-15T19:16:04.153Z,1629054964.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:04.153Z,1629054964.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:04.155Z,1629054964.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:04.560Z,1629054964.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:04.961Z,1629054964.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,003EE,18A,80,80,77,FF
2021-08-15T19:16:04.962Z,1629054964.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:05.012Z,1629054965.012 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:05.393Z,1629054965.393 [Micromodem](INFO): Nmea in: $SNTTA,0.036162,,,,191605.32*4B

2021-08-15T19:16:05.431Z,1629054965.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 16.332903 deg, deltaT: 4.447724 s, approachRate: -0.121411 m/s, LOS rate: 1.726353 deg/s, posRepo size: 4
2021-08-15T19:16:07.881Z,1629054967.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:08.209Z,1629054968.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:08.209Z,1629054968.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:08.209Z,1629054968.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:08.210Z,1629054968.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:08.593Z,1629054968.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,003EE,18A,80,80,77,FF
2021-08-15T19:16:08.594Z,1629054968.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:08.594Z,1629054968.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:08.595Z,1629054968.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:09.009Z,1629054969.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:09.397Z,1629054969.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,003F1,189,80,80,6C,FF
2021-08-15T19:16:09.398Z,1629054969.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:09.482Z,1629054969.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:09.858Z,1629054969.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191609.75*5A

2021-08-15T19:16:09.893Z,1629054969.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 11.186410 deg, deltaT: 4.469612 s, approachRate: 0.040272 m/s, LOS rate: -1.151441 deg/s, posRepo size: 4
2021-08-15T19:16:12.278Z,1629054972.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:12.635Z,1629054972.635 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:12.635Z,1629054972.635 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:12.635Z,1629054972.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:12.636Z,1629054972.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:13.038Z,1629054973.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,003F1,189,80,80,6C,FF
2021-08-15T19:16:13.038Z,1629054973.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:13.039Z,1629054973.039 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:13.059Z,1629054973.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:13.533Z,1629054973.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:13.929Z,1629054973.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,003F0,187,80,80,6B,FF
2021-08-15T19:16:13.930Z,1629054973.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:14.009Z,1629054974.009 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:14.354Z,1629054974.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191614.22*54

2021-08-15T19:16:14.395Z,1629054974.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 5.026903 deg, deltaT: 4.527190 s, approachRate: -0.013253 m/s, LOS rate: -1.360559 deg/s, posRepo size: 4
2021-08-15T19:16:16.785Z,1629054976.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:17.169Z,1629054977.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:17.169Z,1629054977.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:17.169Z,1629054977.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:17.170Z,1629054977.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:17.565Z,1629054977.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,003F0,187,80,80,6B,FF
2021-08-15T19:16:17.565Z,1629054977.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:17.565Z,1629054977.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:17.567Z,1629054977.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:17.976Z,1629054977.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:18.385Z,1629054978.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,003F3,187,80,80,7A,FF
2021-08-15T19:16:18.386Z,1629054978.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:18.443Z,1629054978.443 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:18.825Z,1629054978.825 [Micromodem](INFO): Nmea in: $SNTTA,0.038037,,,,191618.73*4D

2021-08-15T19:16:18.854Z,1629054978.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 1.018282 deg, deltaT: 4.433687 s, approachRate: 0.040598 m/s, LOS rate: -0.904128 deg/s, posRepo size: 4
2021-08-15T19:16:21.246Z,1629054981.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:21.605Z,1629054981.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:21.605Z,1629054981.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:21.605Z,1629054981.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:21.606Z,1629054981.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:22.093Z,1629054982.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,003F3,187,80,80,7A,FF
2021-08-15T19:16:22.094Z,1629054982.094 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:22.094Z,1629054982.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:22.095Z,1629054982.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:22.541Z,1629054982.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:22.929Z,1629054982.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,003F7,187,80,80,3F,FF
2021-08-15T19:16:22.930Z,1629054982.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:22.977Z,1629054982.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:23.365Z,1629054983.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191623.26*54

2021-08-15T19:16:23.391Z,1629054983.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 0.753012 deg, deltaT: 4.534371 s, approachRate: 0.052929 m/s, LOS rate: -0.058502 deg/s, posRepo size: 4
2021-08-15T19:16:25.828Z,1629054985.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:26.169Z,1629054986.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:26.169Z,1629054986.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:26.170Z,1629054986.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:26.170Z,1629054986.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:26.569Z,1629054986.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,003F7,187,80,80,3F,FF
2021-08-15T19:16:26.569Z,1629054986.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:26.570Z,1629054986.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:26.571Z,1629054986.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:27.054Z,1629054987.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:27.421Z,1629054987.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00401,186,80,80,66,FF
2021-08-15T19:16:27.421Z,1629054987.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:27.466Z,1629054987.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:27.849Z,1629054987.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191627.73*50

2021-08-15T19:16:27.900Z,1629054987.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 355.951484 deg, deltaT: 4.488894 s, approachRate: 0.133663 m/s, LOS rate: -1.069647 deg/s, posRepo size: 4
2021-08-15T19:16:30.277Z,1629054990.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:30.657Z,1629054990.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:30.657Z,1629054990.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:30.658Z,1629054990.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:30.659Z,1629054990.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:31.081Z,1629054991.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00401,186,80,80,66,FF
2021-08-15T19:16:31.081Z,1629054991.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:31.082Z,1629054991.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:31.085Z,1629054991.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:31.464Z,1629054991.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:31.861Z,1629054991.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,003F6,188,80,80,67,FF
2021-08-15T19:16:31.862Z,1629054991.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:31.924Z,1629054991.924 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:32.293Z,1629054992.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191632.25*57

2021-08-15T19:16:32.353Z,1629054992.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 1.557693 deg, deltaT: 4.457902 s, approachRate: -0.148053 m/s, LOS rate: 1.257589 deg/s, posRepo size: 4
2021-08-15T19:16:34.709Z,1629054994.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:35.121Z,1629054995.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:35.121Z,1629054995.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:35.121Z,1629054995.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:35.122Z,1629054995.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:35.497Z,1629054995.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,003F6,188,80,80,67,FF
2021-08-15T19:16:35.497Z,1629054995.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:35.497Z,1629054995.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:35.499Z,1629054995.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:35.913Z,1629054995.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:36.310Z,1629054996.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,00403,18A,80,80,74,FF
2021-08-15T19:16:36.310Z,1629054996.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:36.371Z,1629054996.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:36.757Z,1629054996.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191636.66*54

2021-08-15T19:16:36.779Z,1629054996.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 11.286501 deg, deltaT: 4.451603 s, approachRate: 0.175219 m/s, LOS rate: 2.185462 deg/s, posRepo size: 4
2021-08-15T19:16:39.168Z,1629054999.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:39.533Z,1629054999.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:39.533Z,1629054999.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:39.533Z,1629054999.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:39.534Z,1629054999.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:39.949Z,1629054999.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,00403,18A,80,80,74,FF
2021-08-15T19:16:39.949Z,1629054999.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:39.949Z,1629054999.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:39.951Z,1629054999.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:40.369Z,1629055000.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:40.773Z,1629055000.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,003F8,188,80,80,5C,FF
2021-08-15T19:16:40.773Z,1629055000.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:40.792Z,1629055000.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:41.201Z,1629055001.201 [Micromodem](INFO): Nmea in: $SNTTA,0.038670,,,,191641.11*40

2021-08-15T19:16:41.228Z,1629055001.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 13.009702 deg, deltaT: 4.416373 s, approachRate: -0.149445 m/s, LOS rate: 0.390185 deg/s, posRepo size: 4
2021-08-15T19:16:43.607Z,1629055003.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:44.004Z,1629055004.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:44.004Z,1629055004.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:44.005Z,1629055004.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:44.006Z,1629055004.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:44.393Z,1629055004.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,003F8,188,80,80,5C,FF
2021-08-15T19:16:44.393Z,1629055004.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:44.393Z,1629055004.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:44.395Z,1629055004.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:44.816Z,1629055004.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:45.197Z,1629055005.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00401,185,80,80,7B,FF
2021-08-15T19:16:45.197Z,1629055005.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:45.254Z,1629055005.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:45.647Z,1629055005.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191645.56*53

2021-08-15T19:16:45.667Z,1629055005.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 336.197047 deg, deltaT: 4.462545 s, approachRate: 0.121008 m/s, LOS rate: -8.249252 deg/s, posRepo size: 4
2021-08-15T19:16:48.124Z,1629055008.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:48.425Z,1629055008.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:48.425Z,1629055008.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:48.425Z,1629055008.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:48.426Z,1629055008.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:48.846Z,1629055008.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00401,185,80,80,7B,FF
2021-08-15T19:16:48.847Z,1629055008.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:48.847Z,1629055008.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:48.849Z,1629055008.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:49.255Z,1629055009.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:49.642Z,1629055009.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00405,186,80,80,5F,FF
2021-08-15T19:16:49.642Z,1629055009.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:49.704Z,1629055009.704 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:50.074Z,1629055010.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191650.01*55

2021-08-15T19:16:50.132Z,1629055010.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 349.705767 deg, deltaT: 4.449581 s, approachRate: 0.053937 m/s, LOS rate: 3.035954 deg/s, posRepo size: 4
2021-08-15T19:16:52.513Z,1629055012.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:52.882Z,1629055012.882 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:52.882Z,1629055012.882 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:52.882Z,1629055012.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:52.883Z,1629055012.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:53.281Z,1629055013.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00405,186,80,80,5F,FF
2021-08-15T19:16:53.281Z,1629055013.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:53.281Z,1629055013.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:53.283Z,1629055013.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:53.686Z,1629055013.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:54.121Z,1629055014.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,003FC,186,80,80,60,FF
2021-08-15T19:16:54.121Z,1629055014.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:54.217Z,1629055014.217 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:54.533Z,1629055014.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191654.45*51

2021-08-15T19:16:54.578Z,1629055014.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 353.599330 deg, deltaT: 4.512980 s, approachRate: -0.119654 m/s, LOS rate: 0.862748 deg/s, posRepo size: 4
2021-08-15T19:16:56.938Z,1629055016.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:16:57.318Z,1629055017.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:16:57.318Z,1629055017.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:16:57.318Z,1629055017.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:16:57.319Z,1629055017.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:16:57.336Z,1629055017.336 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T19:16:57.729Z,1629055017.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,003FC,186,80,80,60,FF
2021-08-15T19:16:57.729Z,1629055017.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:16:57.730Z,1629055017.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:16:57.736Z,1629055017.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:16:58.128Z,1629055018.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:16:58.529Z,1629055018.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,003F8,187,80,80,6D,FF
2021-08-15T19:16:58.530Z,1629055018.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:16:58.548Z,1629055018.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:16:58.973Z,1629055018.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191658.90*55

2021-08-15T19:16:59.003Z,1629055019.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 3.294874 deg, deltaT: 4.331415 s, approachRate: -0.055410 m/s, LOS rate: 2.238426 deg/s, posRepo size: 4
2021-08-15T19:17:00.172Z,1629055020.172 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T19:17:01.420Z,1629055021.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:01.797Z,1629055021.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:01.797Z,1629055021.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:01.797Z,1629055021.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:01.798Z,1629055021.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:02.165Z,1629055022.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,003F8,187,80,80,6D,FF
2021-08-15T19:17:02.165Z,1629055022.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:02.165Z,1629055022.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:02.167Z,1629055022.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:02.593Z,1629055022.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:02.998Z,1629055022.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,003F9,186,80,80,6C,FF
2021-08-15T19:17:02.998Z,1629055022.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:03.026Z,1629055023.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:03.433Z,1629055023.433 [Micromodem](INFO): Nmea in: $SNTTA,0.036559,,,,191703.33*41

2021-08-15T19:17:03.491Z,1629055023.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 3.973471 deg, deltaT: 4.477622 s, approachRate: 0.013399 m/s, LOS rate: 0.151553 deg/s, posRepo size: 4
2021-08-15T19:17:05.882Z,1629055025.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:06.229Z,1629055026.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:06.229Z,1629055026.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:06.229Z,1629055026.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:06.230Z,1629055026.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:06.633Z,1629055026.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,003F9,186,80,80,6C,FF
2021-08-15T19:17:06.633Z,1629055026.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:06.633Z,1629055026.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:06.635Z,1629055026.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:07.059Z,1629055027.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:07.445Z,1629055027.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00402,186,80,80,A8,FF
2021-08-15T19:17:07.446Z,1629055027.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:07.465Z,1629055027.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:07.873Z,1629055027.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191707.80*5F

2021-08-15T19:17:07.941Z,1629055027.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 12.319985 deg, deltaT: 4.438687 s, approachRate: 0.121658 m/s, LOS rate: 1.880402 deg/s, posRepo size: 4
2021-08-15T19:17:10.287Z,1629055030.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:10.677Z,1629055030.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:10.677Z,1629055030.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:10.678Z,1629055030.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:10.679Z,1629055030.679 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:11.093Z,1629055031.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00402,186,80,80,A8,FF
2021-08-15T19:17:11.093Z,1629055031.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:11.093Z,1629055031.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:11.095Z,1629055031.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:11.488Z,1629055031.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:11.885Z,1629055031.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,003F8,186,80,80,A3,FF
2021-08-15T19:17:11.885Z,1629055031.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:11.942Z,1629055031.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:12.318Z,1629055032.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191712.25*54

2021-08-15T19:17:12.365Z,1629055032.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 13.440558 deg, deltaT: 4.477778 s, approachRate: -0.133995 m/s, LOS rate: 0.250252 deg/s, posRepo size: 4
2021-08-15T19:17:14.725Z,1629055034.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:15.121Z,1629055035.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:15.121Z,1629055035.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:15.121Z,1629055035.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:15.122Z,1629055035.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:15.521Z,1629055035.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,003F8,186,80,80,A3,FF
2021-08-15T19:17:15.522Z,1629055035.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:15.522Z,1629055035.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:15.523Z,1629055035.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:15.928Z,1629055035.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:16.330Z,1629055036.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAF,000,003FB,186,80,80,9A,FF
2021-08-15T19:17:16.330Z,1629055036.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:16.389Z,1629055036.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:16.757Z,1629055036.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191716.68*59

2021-08-15T19:17:16.787Z,1629055036.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 14.113197 deg, deltaT: 4.446329 s, approachRate: 0.040482 m/s, LOS rate: 0.151280 deg/s, posRepo size: 4
2021-08-15T19:17:19.190Z,1629055039.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:19.557Z,1629055039.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:19.557Z,1629055039.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:19.557Z,1629055039.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:19.558Z,1629055039.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:19.961Z,1629055039.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAF,000,003FB,186,80,80,9A,FF
2021-08-15T19:17:19.961Z,1629055039.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:19.961Z,1629055039.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:19.963Z,1629055039.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:20.377Z,1629055040.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:20.773Z,1629055040.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,003FD,185,80,80,91,FF
2021-08-15T19:17:20.774Z,1629055040.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:20.821Z,1629055040.821 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:21.209Z,1629055041.209 [Micromodem](INFO): Nmea in: $SNTTA,0.031981,,,,191721.13*4D

2021-08-15T19:17:21.247Z,1629055041.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 17.092075 deg, deltaT: 4.432707 s, approachRate: 0.027072 m/s, LOS rate: 0.672022 deg/s, posRepo size: 4
2021-08-15T19:17:23.630Z,1629055043.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:24.001Z,1629055044.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:24.001Z,1629055044.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:24.001Z,1629055044.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:24.002Z,1629055044.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:24.405Z,1629055044.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,003FD,185,80,80,91,FF
2021-08-15T19:17:24.405Z,1629055044.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:24.405Z,1629055044.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:24.407Z,1629055044.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:24.826Z,1629055044.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:25.221Z,1629055045.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC5,000,003F8,189,80,80,7E,FF
2021-08-15T19:17:25.222Z,1629055045.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:25.269Z,1629055045.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:25.658Z,1629055045.658 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191725.57*55

2021-08-15T19:17:25.679Z,1629055045.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 27.642406 deg, deltaT: 4.447812 s, approachRate: -0.067449 m/s, LOS rate: 2.372027 deg/s, posRepo size: 4
2021-08-15T19:17:28.133Z,1629055048.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:28.449Z,1629055048.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:28.449Z,1629055048.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:28.450Z,1629055048.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:28.451Z,1629055048.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:28.849Z,1629055048.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC5,000,003F8,189,80,80,7E,FF
2021-08-15T19:17:28.849Z,1629055048.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:28.849Z,1629055048.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:28.851Z,1629055048.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:29.268Z,1629055049.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:29.657Z,1629055049.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,003FB,189,80,80,81,FF
2021-08-15T19:17:29.657Z,1629055049.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:29.787Z,1629055049.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:30.113Z,1629055050.113 [Micromodem](INFO): Nmea in: $SNTTA,0.033466,,,,191730.01*48

2021-08-15T19:17:30.143Z,1629055050.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 35.743910 deg, deltaT: 4.522150 s, approachRate: 0.039804 m/s, LOS rate: 1.791516 deg/s, posRepo size: 4
2021-08-15T19:17:32.514Z,1629055052.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:32.893Z,1629055052.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:32.893Z,1629055052.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:32.893Z,1629055052.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:32.894Z,1629055052.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:33.297Z,1629055053.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,003FB,189,80,80,81,FF
2021-08-15T19:17:33.298Z,1629055053.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:33.298Z,1629055053.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:33.301Z,1629055053.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:33.714Z,1629055053.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:34.117Z,1629055054.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,003FD,189,80,80,78,FF
2021-08-15T19:17:34.118Z,1629055054.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:34.216Z,1629055054.216 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:34.533Z,1629055054.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191734.46*55

2021-08-15T19:17:34.563Z,1629055054.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 37.093361 deg, deltaT: 4.424999 s, approachRate: 0.027119 m/s, LOS rate: 0.304961 deg/s, posRepo size: 4
2021-08-15T19:17:36.956Z,1629055056.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:37.341Z,1629055057.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:37.341Z,1629055057.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:37.341Z,1629055057.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:37.342Z,1629055057.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:37.769Z,1629055057.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,003FD,189,80,80,78,FF
2021-08-15T19:17:37.769Z,1629055057.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:37.770Z,1629055057.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:37.784Z,1629055057.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:38.144Z,1629055058.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:38.561Z,1629055058.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,003FA,189,80,80,79,FF
2021-08-15T19:17:38.561Z,1629055058.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:38.612Z,1629055058.612 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:38.976Z,1629055058.976 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191738.95*57

2021-08-15T19:17:39.010Z,1629055059.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 41.611620 deg, deltaT: 4.395800 s, approachRate: -0.040948 m/s, LOS rate: 1.027858 deg/s, posRepo size: 4
2021-08-15T19:17:41.424Z,1629055061.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:41.817Z,1629055061.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:41.817Z,1629055061.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:41.817Z,1629055061.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:41.818Z,1629055061.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:42.185Z,1629055062.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,003FA,189,80,80,79,FF
2021-08-15T19:17:42.185Z,1629055062.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:42.185Z,1629055062.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:42.187Z,1629055062.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:42.604Z,1629055062.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:42.989Z,1629055062.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,003FB,189,80,80,8F,FF
2021-08-15T19:17:42.990Z,1629055062.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:43.084Z,1629055063.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:43.437Z,1629055063.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191743.35*51

2021-08-15T19:17:43.460Z,1629055063.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 44.345802 deg, deltaT: 4.471507 s, approachRate: 0.013418 m/s, LOS rate: 0.611468 deg/s, posRepo size: 4
2021-08-15T19:17:45.890Z,1629055065.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:46.221Z,1629055066.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:46.221Z,1629055066.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:46.221Z,1629055066.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:46.222Z,1629055066.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:46.642Z,1629055066.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,003FB,189,80,80,8F,FF
2021-08-15T19:17:46.642Z,1629055066.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:46.642Z,1629055066.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:46.644Z,1629055066.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:47.085Z,1629055067.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:47.111Z,1629055067.111 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T19:17:47.446Z,1629055067.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,003F9,186,80,80,42,FF
2021-08-15T19:17:47.446Z,1629055067.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:47.501Z,1629055067.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:47.869Z,1629055067.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191747.80*5B

2021-08-15T19:17:47.923Z,1629055067.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 349.903460 deg, deltaT: 4.417700 s, approachRate: -0.027164 m/s, LOS rate: -12.323683 deg/s, posRepo size: 4
2021-08-15T19:17:50.285Z,1629055070.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:50.666Z,1629055070.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:50.666Z,1629055070.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:50.666Z,1629055070.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:50.667Z,1629055070.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:51.089Z,1629055071.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,003F9,186,80,80,42,FF
2021-08-15T19:17:51.089Z,1629055071.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:51.089Z,1629055071.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:51.091Z,1629055071.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:51.486Z,1629055071.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:51.885Z,1629055071.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,003F7,187,80,80,61,FF
2021-08-15T19:17:51.886Z,1629055071.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:51.923Z,1629055071.923 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:52.323Z,1629055072.323 [Micromodem](INFO): Nmea in: $SNTTA,0.015188,,,,191752.25*4B

2021-08-15T19:17:52.378Z,1629055072.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 353.697822 deg, deltaT: 4.422185 s, approachRate: -0.027135 m/s, LOS rate: 0.858029 deg/s, posRepo size: 4
2021-08-15T19:17:54.738Z,1629055074.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:55.125Z,1629055075.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:55.125Z,1629055075.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:55.125Z,1629055075.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:55.126Z,1629055075.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:55.513Z,1629055075.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,003F7,187,80,80,61,FF
2021-08-15T19:17:55.513Z,1629055075.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:55.513Z,1629055075.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:55.515Z,1629055075.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:17:55.920Z,1629055075.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:17:56.334Z,1629055076.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,003F6,185,80,80,70,FF
2021-08-15T19:17:56.335Z,1629055076.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:17:56.424Z,1629055076.424 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:17:56.769Z,1629055076.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191756.68*5D

2021-08-15T19:17:56.791Z,1629055076.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 3.689304 deg, deltaT: 4.500590 s, approachRate: -0.013332 m/s, LOS rate: 2.220040 deg/s, posRepo size: 4
2021-08-15T19:17:57.181Z,1629055077.181 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T19:17:59.176Z,1629055079.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:17:59.565Z,1629055079.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:17:59.565Z,1629055079.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:17:59.565Z,1629055079.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:17:59.566Z,1629055079.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:17:59.957Z,1629055079.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,003F6,185,80,80,70,FF
2021-08-15T19:17:59.957Z,1629055079.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:17:59.957Z,1629055079.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:17:59.959Z,1629055079.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:00.383Z,1629055080.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:00.763Z,1629055080.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,003F5,184,80,80,7D,FF
2021-08-15T19:18:00.763Z,1629055080.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:00.806Z,1629055080.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:01.214Z,1629055081.214 [Micromodem](INFO): Nmea in: $SNTTA,0.015078,,,,191801.12*48

2021-08-15T19:18:01.250Z,1629055081.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 3.805132 deg, deltaT: 4.382158 s, approachRate: -0.013691 m/s, LOS rate: 0.026432 deg/s, posRepo size: 4
2021-08-15T19:18:02.399Z,1629055082.399 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T19:18:03.639Z,1629055083.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:03.997Z,1629055083.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:03.997Z,1629055083.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:03.997Z,1629055083.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:03.998Z,1629055083.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:04.401Z,1629055084.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,003F5,184,80,80,7D,FF
2021-08-15T19:18:04.401Z,1629055084.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:04.402Z,1629055084.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:04.403Z,1629055084.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:04.804Z,1629055084.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:05.209Z,1629055085.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,003F5,187,80,80,98,FF
2021-08-15T19:18:05.209Z,1629055085.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:05.266Z,1629055085.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:05.663Z,1629055085.663 [Micromodem](INFO): Nmea in: $SNTTA,0.025360,,,,191805.56*45

2021-08-15T19:18:05.683Z,1629055085.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 13.458945 deg, deltaT: 4.459799 s, approachRate: 0.000000 m/s, LOS rate: 2.164630 deg/s, posRepo size: 4
2021-08-15T19:18:08.129Z,1629055088.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:08.437Z,1629055088.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:08.437Z,1629055088.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:08.437Z,1629055088.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:08.438Z,1629055088.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:08.841Z,1629055088.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,003F5,187,80,80,98,FF
2021-08-15T19:18:08.841Z,1629055088.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:08.841Z,1629055088.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:08.843Z,1629055088.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:09.257Z,1629055089.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:09.658Z,1629055089.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,003F2,186,80,80,9E,FF
2021-08-15T19:18:09.658Z,1629055089.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:09.760Z,1629055089.760 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:10.105Z,1629055090.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191810.00*5E

2021-08-15T19:18:10.168Z,1629055090.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 12.002886 deg, deltaT: 4.494781 s, approachRate: -0.040047 m/s, LOS rate: -0.323944 deg/s, posRepo size: 4
2021-08-15T19:18:12.510Z,1629055092.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:12.881Z,1629055092.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:12.881Z,1629055092.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:12.881Z,1629055092.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:12.882Z,1629055092.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:13.289Z,1629055093.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,003F2,186,80,80,9E,FF
2021-08-15T19:18:13.289Z,1629055093.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:13.290Z,1629055093.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:13.291Z,1629055093.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:13.693Z,1629055093.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:14.117Z,1629055094.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,003F1,187,80,80,9E,FF
2021-08-15T19:18:14.118Z,1629055094.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:14.213Z,1629055094.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:14.537Z,1629055094.537 [Micromodem](INFO): Nmea in: $SNTTA,0.014974,,,,191814.46*49

2021-08-15T19:18:14.559Z,1629055094.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 15.838486 deg, deltaT: 4.452048 s, approachRate: -0.013476 m/s, LOS rate: 0.861536 deg/s, posRepo size: 4
2021-08-15T19:18:16.949Z,1629055096.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:17.325Z,1629055097.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:17.326Z,1629055097.326 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:17.326Z,1629055097.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:17.327Z,1629055097.327 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:17.749Z,1629055097.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,003F1,187,80,80,9E,FF
2021-08-15T19:18:17.749Z,1629055097.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:17.750Z,1629055097.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:17.765Z,1629055097.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:18.144Z,1629055098.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:18.545Z,1629055098.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,003F1,186,80,80,A8,FF
2021-08-15T19:18:18.546Z,1629055098.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:18.564Z,1629055098.564 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:18.963Z,1629055098.963 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191818.93*5C

2021-08-15T19:18:19.004Z,1629055099.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 15.539145 deg, deltaT: 4.351039 s, approachRate: 0.000000 m/s, LOS rate: -0.068798 deg/s, posRepo size: 4
2021-08-15T19:18:21.416Z,1629055101.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:21.820Z,1629055101.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:21.820Z,1629055101.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:21.821Z,1629055101.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:21.822Z,1629055101.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:22.186Z,1629055102.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003F1,186,80,80,A8,FF
2021-08-15T19:18:22.186Z,1629055102.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:22.186Z,1629055102.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:22.188Z,1629055102.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:22.584Z,1629055102.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:22.989Z,1629055102.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,003EE,187,80,80,88,FF
2021-08-15T19:18:22.990Z,1629055102.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:23.089Z,1629055103.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:23.421Z,1629055103.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191823.35*58

2021-08-15T19:18:23.455Z,1629055103.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 20.608098 deg, deltaT: 4.524837 s, approachRate: -0.039780 m/s, LOS rate: 1.120251 deg/s, posRepo size: 4
2021-08-15T19:18:25.867Z,1629055105.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:26.217Z,1629055106.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:26.217Z,1629055106.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:26.217Z,1629055106.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:26.218Z,1629055106.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:26.629Z,1629055106.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,003EE,187,80,80,88,FF
2021-08-15T19:18:26.629Z,1629055106.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:26.629Z,1629055106.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:26.630Z,1629055106.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:27.029Z,1629055107.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:27.429Z,1629055107.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,003F3,186,80,80,81,FF
2021-08-15T19:18:27.430Z,1629055107.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:27.459Z,1629055107.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:27.865Z,1629055107.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191827.79*54

2021-08-15T19:18:27.918Z,1629055107.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 30.664380 deg, deltaT: 4.370187 s, approachRate: 0.068647 m/s, LOS rate: 2.301110 deg/s, posRepo size: 4
2021-08-15T19:18:30.313Z,1629055110.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:30.669Z,1629055110.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:30.669Z,1629055110.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:30.669Z,1629055110.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:30.670Z,1629055110.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:31.081Z,1629055111.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,003F3,186,80,80,81,FF
2021-08-15T19:18:31.081Z,1629055111.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:31.081Z,1629055111.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:31.083Z,1629055111.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:31.472Z,1629055111.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:31.873Z,1629055111.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,003EF,189,80,80,9B,FF
2021-08-15T19:18:31.874Z,1629055111.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:31.941Z,1629055111.941 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:32.314Z,1629055112.314 [Micromodem](INFO): Nmea in: $SNTTA,0.030415,,,,191832.25*44

2021-08-15T19:18:32.361Z,1629055112.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 41.127410 deg, deltaT: 4.481686 s, approachRate: -0.053552 m/s, LOS rate: 2.334619 deg/s, posRepo size: 4
2021-08-15T19:18:34.719Z,1629055114.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:35.129Z,1629055115.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:35.129Z,1629055115.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:35.129Z,1629055115.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:35.130Z,1629055115.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:35.519Z,1629055115.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,003EF,189,80,80,9B,FF
2021-08-15T19:18:35.519Z,1629055115.519 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:35.520Z,1629055115.520 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:35.521Z,1629055115.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:35.922Z,1629055115.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:36.320Z,1629055116.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,003ED,189,80,80,7F,FF
2021-08-15T19:18:36.321Z,1629055116.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:36.371Z,1629055116.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:36.765Z,1629055116.765 [Micromodem](INFO): Nmea in: $SNTTA,0.032237,,,,191836.69*4C

2021-08-15T19:18:36.799Z,1629055116.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 47.913169 deg, deltaT: 4.430347 s, approachRate: -0.027086 m/s, LOS rate: 1.531654 deg/s, posRepo size: 4
2021-08-15T19:18:39.211Z,1629055119.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:39.557Z,1629055119.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:39.557Z,1629055119.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:39.558Z,1629055119.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:39.558Z,1629055119.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:39.953Z,1629055119.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,003ED,189,80,80,7F,FF
2021-08-15T19:18:39.953Z,1629055119.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:39.953Z,1629055119.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:39.955Z,1629055119.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:40.377Z,1629055120.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:40.769Z,1629055120.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,003EA,18A,80,80,7C,FF
2021-08-15T19:18:40.770Z,1629055120.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:40.833Z,1629055120.833 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:41.210Z,1629055121.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191841.12*59

2021-08-15T19:18:41.228Z,1629055121.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 53.331907 deg, deltaT: 4.461620 s, approachRate: -0.040344 m/s, LOS rate: 1.214522 deg/s, posRepo size: 4
2021-08-15T19:18:43.638Z,1629055123.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:44.001Z,1629055124.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:44.001Z,1629055124.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:44.002Z,1629055124.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:44.003Z,1629055124.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:44.418Z,1629055124.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,003EA,18A,80,80,7C,FF
2021-08-15T19:18:44.418Z,1629055124.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:44.418Z,1629055124.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:44.420Z,1629055124.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:44.805Z,1629055124.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:45.214Z,1629055125.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,003E8,189,80,80,7A,FF
2021-08-15T19:18:45.215Z,1629055125.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:45.269Z,1629055125.269 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:45.641Z,1629055125.641 [Micromodem](INFO): Nmea in: $SNTTA,0.031185,,,,191845.58*43

2021-08-15T19:18:45.663Z,1629055125.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 338.093927 deg, deltaT: 4.436464 s, approachRate: -0.027049 m/s, LOS rate: -16.958999 deg/s, posRepo size: 4
2021-08-15T19:18:48.111Z,1629055128.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:48.450Z,1629055128.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:48.450Z,1629055128.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:48.451Z,1629055128.451 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:48.452Z,1629055128.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:48.845Z,1629055128.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,003E8,189,80,80,7A,FF
2021-08-15T19:18:48.845Z,1629055128.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:48.845Z,1629055128.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:48.847Z,1629055128.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:49.273Z,1629055129.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:49.643Z,1629055129.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,003E7,189,80,80,74,FF
2021-08-15T19:18:49.643Z,1629055129.643 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:49.682Z,1629055129.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:50.097Z,1629055130.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191850.01*5B

2021-08-15T19:18:50.146Z,1629055130.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 336.533065 deg, deltaT: 4.413004 s, approachRate: -0.013596 m/s, LOS rate: -0.353696 deg/s, posRepo size: 4
2021-08-15T19:18:52.499Z,1629055132.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:52.889Z,1629055132.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:52.889Z,1629055132.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:52.889Z,1629055132.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:52.890Z,1629055132.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:53.285Z,1629055133.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,003E7,189,80,80,74,FF
2021-08-15T19:18:53.285Z,1629055133.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:53.285Z,1629055133.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:53.287Z,1629055133.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:53.693Z,1629055133.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:54.109Z,1629055134.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26A,000,003E7,188,80,80,88,FF
2021-08-15T19:18:54.109Z,1629055134.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:54.215Z,1629055134.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:54.533Z,1629055134.533 [Micromodem](INFO): Nmea in: $SNTTA,0.044539,,,,191854.45*4E

2021-08-15T19:18:54.555Z,1629055134.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 343.915570 deg, deltaT: 4.532923 s, approachRate: 0.000000 m/s, LOS rate: 1.628641 deg/s, posRepo size: 4
2021-08-15T19:18:56.942Z,1629055136.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:18:57.334Z,1629055137.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:18:57.334Z,1629055137.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:18:57.334Z,1629055137.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:18:57.335Z,1629055137.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:18:57.764Z,1629055137.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26A,000,003E7,188,80,80,88,FF
2021-08-15T19:18:57.765Z,1629055137.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:18:57.766Z,1629055137.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:18:57.780Z,1629055137.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:18:58.142Z,1629055138.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:18:58.537Z,1629055138.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,003E5,188,80,80,98,FF
2021-08-15T19:18:58.538Z,1629055138.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:18:58.546Z,1629055138.546 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:18:58.591Z,1629055138.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:18:58.959Z,1629055138.959 [Micromodem](INFO): Nmea in: $SNTTA,0.057352,,,,191858.95*46

2021-08-15T19:18:59.015Z,1629055139.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 347.957540 deg, deltaT: 4.375663 s, approachRate: -0.027425 m/s, LOS rate: 0.923739 deg/s, posRepo size: 4
2021-08-15T19:19:01.407Z,1629055141.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:01.806Z,1629055141.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:01.806Z,1629055141.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:01.806Z,1629055141.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:01.807Z,1629055141.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:02.177Z,1629055142.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,003E5,188,80,80,98,FF
2021-08-15T19:19:02.177Z,1629055142.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:02.177Z,1629055142.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:02.179Z,1629055142.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:02.584Z,1629055142.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:02.985Z,1629055142.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,003E5,187,80,80,86,FF
2021-08-15T19:19:02.986Z,1629055142.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:03.101Z,1629055143.101 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:03.421Z,1629055143.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191903.34*5A

2021-08-15T19:19:03.451Z,1629055143.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 349.180581 deg, deltaT: 4.510659 s, approachRate: 0.000000 m/s, LOS rate: 0.271145 deg/s, posRepo size: 4
2021-08-15T19:19:05.874Z,1629055145.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:06.217Z,1629055146.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:06.217Z,1629055146.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:06.217Z,1629055146.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:06.218Z,1629055146.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:06.617Z,1629055146.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,003E5,187,80,80,86,FF
2021-08-15T19:19:06.617Z,1629055146.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:06.617Z,1629055146.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:06.619Z,1629055146.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:07.021Z,1629055147.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:07.425Z,1629055147.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,003E4,185,80,80,92,FF
2021-08-15T19:19:07.426Z,1629055147.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:07.480Z,1629055147.480 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:07.857Z,1629055147.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191907.78*56

2021-08-15T19:19:07.913Z,1629055147.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 354.215495 deg, deltaT: 4.378518 s, approachRate: -0.013703 m/s, LOS rate: 1.149913 deg/s, posRepo size: 4
2021-08-15T19:19:10.297Z,1629055150.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:10.669Z,1629055150.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:10.669Z,1629055150.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:10.669Z,1629055150.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:10.670Z,1629055150.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:11.070Z,1629055151.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,003E4,185,80,80,92,FF
2021-08-15T19:19:11.070Z,1629055151.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:11.070Z,1629055151.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:11.072Z,1629055151.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:11.486Z,1629055151.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:11.873Z,1629055151.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,003E7,186,80,80,8F,FF
2021-08-15T19:19:11.874Z,1629055151.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:11.962Z,1629055151.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:12.306Z,1629055152.306 [Micromodem](INFO): Nmea in: $SNTTA,0.041679,,,,191912.23*4F

2021-08-15T19:19:12.355Z,1629055152.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 354.278169 deg, deltaT: 4.481872 s, approachRate: 0.040161 m/s, LOS rate: 0.013984 deg/s, posRepo size: 4
2021-08-15T19:19:14.734Z,1629055154.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:15.104Z,1629055155.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:15.105Z,1629055155.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:15.105Z,1629055155.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:15.107Z,1629055155.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:15.509Z,1629055155.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,003E7,186,80,80,8F,FF
2021-08-15T19:19:15.510Z,1629055155.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:15.510Z,1629055155.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:15.511Z,1629055155.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:15.921Z,1629055155.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:16.327Z,1629055156.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,003E6,186,80,80,50,FF
2021-08-15T19:19:16.327Z,1629055156.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:16.379Z,1629055156.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:16.745Z,1629055156.745 [Micromodem](INFO): Nmea in: $SNTTA,0.038847,,,,191916.67*46

2021-08-15T19:19:16.767Z,1629055156.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 350.862446 deg, deltaT: 4.421623 s, approachRate: -0.013570 m/s, LOS rate: -0.772504 deg/s, posRepo size: 4
2021-08-15T19:19:19.168Z,1629055159.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:19.549Z,1629055159.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:19.550Z,1629055159.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:19.550Z,1629055159.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:19.551Z,1629055159.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:19.949Z,1629055159.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,003E6,186,80,80,50,FF
2021-08-15T19:19:19.949Z,1629055159.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:19.950Z,1629055159.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:19.951Z,1629055159.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:20.366Z,1629055160.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:20.757Z,1629055160.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,003E5,187,80,80,41,FF
2021-08-15T19:19:20.758Z,1629055160.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:20.809Z,1629055160.809 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:21.198Z,1629055161.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191921.12*5E

2021-08-15T19:19:21.223Z,1629055161.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 348.900434 deg, deltaT: 4.425227 s, approachRate: -0.013558 m/s, LOS rate: -0.443370 deg/s, posRepo size: 4
2021-08-15T19:19:23.610Z,1629055163.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:23.993Z,1629055163.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:23.993Z,1629055163.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:23.993Z,1629055163.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:23.994Z,1629055163.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:24.397Z,1629055164.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,003E5,187,80,80,41,FF
2021-08-15T19:19:24.398Z,1629055164.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:24.398Z,1629055164.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:24.399Z,1629055164.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:24.800Z,1629055164.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:25.209Z,1629055165.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,003E7,186,80,80,92,FF
2021-08-15T19:19:25.209Z,1629055165.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:25.257Z,1629055165.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:25.646Z,1629055165.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191925.56*5A

2021-08-15T19:19:25.667Z,1629055165.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 351.146036 deg, deltaT: 4.448660 s, approachRate: 0.026975 m/s, LOS rate: 0.504782 deg/s, posRepo size: 4
2021-08-15T19:19:28.079Z,1629055168.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:28.445Z,1629055168.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:28.445Z,1629055168.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:28.445Z,1629055168.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:28.446Z,1629055168.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:28.841Z,1629055168.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,003E7,186,80,80,92,FF
2021-08-15T19:19:28.842Z,1629055168.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:28.842Z,1629055168.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:28.843Z,1629055168.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:29.281Z,1629055169.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:29.649Z,1629055169.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,003E7,186,80,80,6F,FF
2021-08-15T19:19:29.650Z,1629055169.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:29.741Z,1629055169.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:30.089Z,1629055170.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191930.01*5C

2021-08-15T19:19:30.139Z,1629055170.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 353.057095 deg, deltaT: 4.484319 s, approachRate: 0.000000 m/s, LOS rate: 0.426165 deg/s, posRepo size: 4
2021-08-15T19:19:32.506Z,1629055172.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:32.881Z,1629055172.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:32.881Z,1629055172.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:32.881Z,1629055172.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:32.882Z,1629055172.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:33.289Z,1629055173.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,003E7,186,80,80,6F,FF
2021-08-15T19:19:33.289Z,1629055173.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:33.290Z,1629055173.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:33.291Z,1629055173.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:33.685Z,1629055173.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:34.109Z,1629055174.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,003E8,186,80,80,9D,FF
2021-08-15T19:19:34.109Z,1629055174.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:34.113Z,1629055174.113 [Micromodem](INFO): Nmea in: $SNTTA,0.166690,0.166371,,,191934.45*52

2021-08-15T19:19:34.210Z,1629055174.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:34.522Z,1629055174.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 349.627630 deg, deltaT: 4.467904 s, approachRate: 0.013429 m/s, LOS rate: -0.767578 deg/s, posRepo size: 4
2021-08-15T19:19:36.938Z,1629055176.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:37.337Z,1629055177.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:37.337Z,1629055177.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:37.337Z,1629055177.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:37.338Z,1629055177.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:37.359Z,1629055177.359 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for altitude
2021-08-15T19:19:37.744Z,1629055177.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,003E8,186,80,80,9D,FF
2021-08-15T19:19:37.745Z,1629055177.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:37.746Z,1629055177.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:37.753Z,1629055177.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:38.161Z,1629055178.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:38.545Z,1629055178.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,003EA,187,80,80,74,FF
2021-08-15T19:19:38.546Z,1629055178.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:38.565Z,1629055178.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:38.989Z,1629055178.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191938.92*5E

2021-08-15T19:19:39.031Z,1629055179.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 356.817197 deg, deltaT: 4.355141 s, approachRate: 0.027554 m/s, LOS rate: 1.650823 deg/s, posRepo size: 4
2021-08-15T19:19:41.431Z,1629055181.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:41.809Z,1629055181.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:41.809Z,1629055181.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:41.809Z,1629055181.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:41.810Z,1629055181.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:42.225Z,1629055182.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,003EA,187,80,80,74,FF
2021-08-15T19:19:42.225Z,1629055182.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:42.226Z,1629055182.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:42.227Z,1629055182.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:42.589Z,1629055182.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:43.005Z,1629055183.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,003F4,186,80,80,57,FF
2021-08-15T19:19:43.005Z,1629055183.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:43.087Z,1629055183.087 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:43.424Z,1629055183.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191943.39*53

2021-08-15T19:19:43.455Z,1629055183.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 37.506809 deg, deltaT: 4.523035 s, approachRate: 0.132654 m/s, LOS rate: 8.996087 deg/s, posRepo size: 4
2021-08-15T19:19:45.876Z,1629055185.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:46.233Z,1629055186.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:46.233Z,1629055186.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:46.234Z,1629055186.234 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:46.234Z,1629055186.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:46.625Z,1629055186.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,003F4,186,80,80,57,FF
2021-08-15T19:19:46.625Z,1629055186.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:46.625Z,1629055186.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:46.627Z,1629055186.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:47.044Z,1629055187.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:47.433Z,1629055187.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,003E9,189,80,80,8F,FF
2021-08-15T19:19:47.433Z,1629055187.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:47.486Z,1629055187.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:47.886Z,1629055187.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191947.79*53

2021-08-15T19:19:47.943Z,1629055187.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 40.768651 deg, deltaT: 4.398416 s, approachRate: -0.150053 m/s, LOS rate: 0.741595 deg/s, posRepo size: 4
2021-08-15T19:19:50.342Z,1629055190.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:50.665Z,1629055190.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:50.665Z,1629055190.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:50.665Z,1629055190.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:50.666Z,1629055190.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:51.097Z,1629055191.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,003E9,189,80,80,8F,FF
2021-08-15T19:19:51.098Z,1629055191.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:51.098Z,1629055191.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:51.101Z,1629055191.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:51.477Z,1629055191.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:51.878Z,1629055191.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,003E6,187,80,80,8F,FF
2021-08-15T19:19:51.878Z,1629055191.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:51.972Z,1629055191.972 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:52.310Z,1629055192.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191952.27*5C

2021-08-15T19:19:52.365Z,1629055192.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 37.636152 deg, deltaT: 4.485804 s, approachRate: -0.040128 m/s, LOS rate: -0.698314 deg/s, posRepo size: 4
2021-08-15T19:19:54.722Z,1629055194.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:55.125Z,1629055195.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:55.125Z,1629055195.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:55.125Z,1629055195.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:55.126Z,1629055195.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:55.521Z,1629055195.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,003E6,187,80,80,8F,FF
2021-08-15T19:19:55.522Z,1629055195.522 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:55.522Z,1629055195.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:55.523Z,1629055195.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:19:55.938Z,1629055195.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:19:56.326Z,1629055196.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,003E8,186,80,80,90,FF
2021-08-15T19:19:56.326Z,1629055196.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:19:56.394Z,1629055196.394 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:19:56.761Z,1629055196.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,191956.69*52

2021-08-15T19:19:56.803Z,1629055196.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 35.085278 deg, deltaT: 4.421969 s, approachRate: 0.027137 m/s, LOS rate: -0.576864 deg/s, posRepo size: 4
2021-08-15T19:19:59.195Z,1629055199.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:19:59.557Z,1629055199.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:19:59.557Z,1629055199.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:19:59.557Z,1629055199.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:19:59.558Z,1629055199.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:19:59.957Z,1629055199.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,003E8,186,80,80,90,FF
2021-08-15T19:19:59.957Z,1629055199.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:19:59.957Z,1629055199.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:19:59.959Z,1629055199.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:00.449Z,1629055200.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:00.847Z,1629055200.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,003EA,187,80,80,80,FF
2021-08-15T19:20:00.848Z,1629055200.848 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:00.910Z,1629055200.910 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:01.257Z,1629055201.257 [Micromodem](INFO): Nmea in: $SNTTA,0.066273,,,,192001.12*4E

2021-08-15T19:20:01.283Z,1629055201.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 36.295004 deg, deltaT: 4.516332 s, approachRate: 0.026570 m/s, LOS rate: 0.267856 deg/s, posRepo size: 4
2021-08-15T19:20:02.105Z,1629055202.105 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-08-15T19:20:03.690Z,1629055203.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:04.102Z,1629055204.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:04.102Z,1629055204.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:04.103Z,1629055204.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:04.103Z,1629055204.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:04.493Z,1629055204.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,003EA,187,80,80,80,FF
2021-08-15T19:20:04.494Z,1629055204.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:04.494Z,1629055204.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:04.495Z,1629055204.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:04.889Z,1629055204.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:05.293Z,1629055205.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,003E9,187,80,80,8F,FF
2021-08-15T19:20:05.294Z,1629055205.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:05.358Z,1629055205.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:05.745Z,1629055205.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192005.66*51

2021-08-15T19:20:05.805Z,1629055205.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 35.771709 deg, deltaT: 4.447964 s, approachRate: -0.013489 m/s, LOS rate: -0.117648 deg/s, posRepo size: 4
2021-08-15T19:20:08.240Z,1629055208.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:08.525Z,1629055208.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:08.525Z,1629055208.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:08.525Z,1629055208.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:08.526Z,1629055208.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:08.925Z,1629055208.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,003E9,187,80,80,8F,FF
2021-08-15T19:20:08.925Z,1629055208.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:08.925Z,1629055208.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:08.927Z,1629055208.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:09.334Z,1629055209.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:09.757Z,1629055209.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,003E5,187,80,80,9E,FF
2021-08-15T19:20:09.758Z,1629055209.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:09.886Z,1629055209.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:10.173Z,1629055210.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192010.09*5C

2021-08-15T19:20:10.233Z,1629055210.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 37.082685 deg, deltaT: 4.527831 s, approachRate: -0.053006 m/s, LOS rate: 0.289537 deg/s, posRepo size: 4
2021-08-15T19:20:12.591Z,1629055212.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:12.971Z,1629055212.971 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:12.971Z,1629055212.971 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:12.971Z,1629055212.971 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:12.973Z,1629055212.973 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:13.369Z,1629055213.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,003E5,187,80,80,9E,FF
2021-08-15T19:20:13.369Z,1629055213.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:13.370Z,1629055213.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:13.371Z,1629055213.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:13.842Z,1629055213.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:13.857Z,1629055213.857 [Micromodem](INFO): Nmea in: 20.0.39330*74

2021-08-15T19:20:13.857Z,1629055213.857 [Micromodem](ERROR): Response from modem failed NMEA checksum: 20.0.39330*74
 expected 0
2021-08-15T19:20:14.177Z,1629055214.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,003E6,186,80,80,A7,FF
2021-08-15T19:20:14.177Z,1629055214.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:14.275Z,1629055214.275 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:14.634Z,1629055214.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 34.961973 deg, deltaT: 4.389029 s, approachRate: 0.013670 m/s, LOS rate: -0.483185 deg/s, posRepo size: 4
2021-08-15T19:20:17.045Z,1629055217.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:17.409Z,1629055217.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:17.409Z,1629055217.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:17.409Z,1629055217.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:17.410Z,1629055217.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:17.829Z,1629055217.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,003E6,186,80,80,A7,FF
2021-08-15T19:20:17.829Z,1629055217.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:17.830Z,1629055217.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:17.831Z,1629055217.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:18.245Z,1629055218.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:18.625Z,1629055218.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,003E6,186,80,80,AB,FF
2021-08-15T19:20:18.626Z,1629055218.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:18.645Z,1629055218.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:19.081Z,1629055219.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192019.00*5C

2021-08-15T19:20:19.107Z,1629055219.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 34.406101 deg, deltaT: 4.369425 s, approachRate: 0.000000 m/s, LOS rate: -0.127218 deg/s, posRepo size: 4
2021-08-15T19:20:21.466Z,1629055221.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:21.861Z,1629055221.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:21.861Z,1629055221.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:21.861Z,1629055221.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:21.862Z,1629055221.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:22.269Z,1629055222.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,003E6,186,80,80,AB,FF
2021-08-15T19:20:22.269Z,1629055222.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:22.269Z,1629055222.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:22.271Z,1629055222.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:22.669Z,1629055222.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:23.079Z,1629055223.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,003E8,187,80,80,93,FF
2021-08-15T19:20:23.079Z,1629055223.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:23.128Z,1629055223.128 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:23.497Z,1629055223.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192023.44*55

2021-08-15T19:20:23.519Z,1629055223.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 34.266427 deg, deltaT: 4.483698 s, approachRate: 0.026764 m/s, LOS rate: -0.031152 deg/s, posRepo size: 4
2021-08-15T19:20:25.948Z,1629055225.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:26.309Z,1629055226.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:26.309Z,1629055226.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:26.310Z,1629055226.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:26.310Z,1629055226.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:26.697Z,1629055226.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,003E8,187,80,80,93,FF
2021-08-15T19:20:26.697Z,1629055226.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:26.698Z,1629055226.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:26.699Z,1629055226.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:27.121Z,1629055227.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:27.515Z,1629055227.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,003E9,185,80,80,B1,FF
2021-08-15T19:20:27.515Z,1629055227.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:27.534Z,1629055227.534 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:27.945Z,1629055227.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192027.86*5F

2021-08-15T19:20:27.999Z,1629055227.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 31.222082 deg, deltaT: 4.405662 s, approachRate: 0.013620 m/s, LOS rate: -0.691007 deg/s, posRepo size: 4
2021-08-15T19:20:30.397Z,1629055230.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:30.749Z,1629055230.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:30.749Z,1629055230.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:30.750Z,1629055230.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:30.751Z,1629055230.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:31.145Z,1629055231.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,003E9,185,80,80,B1,FF
2021-08-15T19:20:31.145Z,1629055231.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:31.145Z,1629055231.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:31.147Z,1629055231.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:31.552Z,1629055231.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:31.961Z,1629055231.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,003EB,187,80,80,A3,FF
2021-08-15T19:20:31.962Z,1629055231.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:32.028Z,1629055232.028 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:32.401Z,1629055232.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192032.31*57

2021-08-15T19:20:32.446Z,1629055232.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 32.287257 deg, deltaT: 4.494481 s, approachRate: 0.026698 m/s, LOS rate: 0.236996 deg/s, posRepo size: 4
2021-08-15T19:20:34.798Z,1629055234.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:35.190Z,1629055235.190 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:35.190Z,1629055235.190 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:35.191Z,1629055235.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:35.191Z,1629055235.191 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:35.600Z,1629055235.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,003EB,187,80,80,A3,FF
2021-08-15T19:20:35.600Z,1629055235.600 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:35.601Z,1629055235.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:35.602Z,1629055235.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:36.007Z,1629055236.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:36.397Z,1629055236.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,003EB,186,80,80,BA,FF
2021-08-15T19:20:36.398Z,1629055236.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:36.417Z,1629055236.417 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:36.825Z,1629055236.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192036.77*51

2021-08-15T19:20:36.847Z,1629055236.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 28.619973 deg, deltaT: 4.388633 s, approachRate: 0.000000 m/s, LOS rate: -0.835632 deg/s, posRepo size: 4
2021-08-15T19:20:39.242Z,1629055239.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:39.625Z,1629055239.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:39.625Z,1629055239.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:39.625Z,1629055239.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:39.626Z,1629055239.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:40.033Z,1629055240.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,003EB,186,80,80,BA,FF
2021-08-15T19:20:40.033Z,1629055240.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:40.033Z,1629055240.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:40.035Z,1629055240.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:40.446Z,1629055240.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:40.841Z,1629055240.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,003EC,186,80,80,B7,FF
2021-08-15T19:20:40.842Z,1629055240.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:40.921Z,1629055240.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:41.298Z,1629055241.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192041.20*53

2021-08-15T19:20:41.367Z,1629055241.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 27.075710 deg, deltaT: 4.504366 s, approachRate: 0.013321 m/s, LOS rate: -0.342837 deg/s, posRepo size: 4
2021-08-15T19:20:43.701Z,1629055243.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:44.121Z,1629055244.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:44.121Z,1629055244.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:44.121Z,1629055244.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:44.122Z,1629055244.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:44.481Z,1629055244.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,003EC,186,80,80,B7,FF
2021-08-15T19:20:44.481Z,1629055244.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:44.481Z,1629055244.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:44.483Z,1629055244.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:44.901Z,1629055244.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:45.281Z,1629055245.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,003F2,186,80,80,A9,FF
2021-08-15T19:20:45.282Z,1629055245.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:45.364Z,1629055245.364 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:45.746Z,1629055245.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192045.65*56

2021-08-15T19:20:45.798Z,1629055245.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 26.326618 deg, deltaT: 4.442757 s, approachRate: 0.081030 m/s, LOS rate: -0.168610 deg/s, posRepo size: 4
2021-08-15T19:20:48.169Z,1629055248.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:48.517Z,1629055248.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:48.517Z,1629055248.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:48.517Z,1629055248.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:48.518Z,1629055248.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:48.944Z,1629055248.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,003F2,186,80,80,A9,FF
2021-08-15T19:20:48.944Z,1629055248.944 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:48.945Z,1629055248.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:48.946Z,1629055248.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:49.331Z,1629055249.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:49.777Z,1629055249.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,003F4,186,80,80,A9,FF
2021-08-15T19:20:49.778Z,1629055249.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:49.875Z,1629055249.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:50.169Z,1629055250.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192050.11*51

2021-08-15T19:20:50.195Z,1629055250.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 23.150197 deg, deltaT: 4.510498 s, approachRate: 0.026605 m/s, LOS rate: -0.704228 deg/s, posRepo size: 4
2021-08-15T19:20:52.585Z,1629055252.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:52.975Z,1629055252.975 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:52.975Z,1629055252.975 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:52.975Z,1629055252.975 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:52.976Z,1629055252.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:53.381Z,1629055253.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,003F4,186,80,80,A9,FF
2021-08-15T19:20:53.381Z,1629055253.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:53.381Z,1629055253.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:53.383Z,1629055253.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:53.825Z,1629055253.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:54.178Z,1629055254.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E17,000,003F9,186,80,80,93,FF
2021-08-15T19:20:54.178Z,1629055254.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:54.235Z,1629055254.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:54.625Z,1629055254.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192054.55*55

2021-08-15T19:20:54.647Z,1629055254.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 21.727846 deg, deltaT: 4.360148 s, approachRate: 0.068805 m/s, LOS rate: -0.326216 deg/s, posRepo size: 4
2021-08-15T19:20:57.052Z,1629055257.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:20:57.405Z,1629055257.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:20:57.405Z,1629055257.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:20:57.405Z,1629055257.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:20:57.406Z,1629055257.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:20:57.821Z,1629055257.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E17,000,003F9,186,80,80,93,FF
2021-08-15T19:20:57.821Z,1629055257.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:20:57.822Z,1629055257.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:20:57.825Z,1629055257.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:20:58.217Z,1629055258.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:20:58.620Z,1629055258.620 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,003FA,187,80,80,72,FF
2021-08-15T19:20:58.621Z,1629055258.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:20:58.698Z,1629055258.698 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:20:59.075Z,1629055259.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192058.99*59

2021-08-15T19:20:59.127Z,1629055259.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 18.434138 deg, deltaT: 4.463179 s, approachRate: 0.013444 m/s, LOS rate: -0.737974 deg/s, posRepo size: 4
2021-08-15T19:21:01.477Z,1629055261.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:01.857Z,1629055261.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:01.857Z,1629055261.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:01.857Z,1629055261.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:01.858Z,1629055261.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:02.285Z,1629055262.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,003FA,187,80,80,72,FF
2021-08-15T19:21:02.285Z,1629055262.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:02.285Z,1629055262.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:02.287Z,1629055262.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:02.757Z,1629055262.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:03.141Z,1629055263.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,003FC,185,80,80,8B,FF
2021-08-15T19:21:03.141Z,1629055263.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:03.195Z,1629055263.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:03.558Z,1629055263.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192103.45*57

2021-08-15T19:21:03.596Z,1629055263.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 13.352401 deg, deltaT: 4.497123 s, approachRate: 0.026684 m/s, LOS rate: -1.129997 deg/s, posRepo size: 4
2021-08-15T19:21:06.025Z,1629055266.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:06.373Z,1629055266.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:06.373Z,1629055266.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:06.373Z,1629055266.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:06.374Z,1629055266.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:06.770Z,1629055266.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,003FC,185,80,80,8B,FF
2021-08-15T19:21:06.770Z,1629055266.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:06.770Z,1629055266.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:06.789Z,1629055266.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:07.173Z,1629055267.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:07.575Z,1629055267.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00402,187,80,80,68,FF
2021-08-15T19:21:07.585Z,1629055267.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:07.682Z,1629055267.682 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:08.001Z,1629055268.001 [Micromodem](INFO): Nmea in: $SNTTA,0.035833,0.377195,,,192107.95*5E

2021-08-15T19:21:08.042Z,1629055268.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 359.139789 deg, deltaT: 4.487384 s, approachRate: 0.080225 m/s, LOS rate: -3.167236 deg/s, posRepo size: 4
2021-08-15T19:21:08.406Z,1629055268.406 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,192108,COPROC,0.20.08
 expected 53
2021-08-15T19:21:10.438Z,1629055270.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:10.813Z,1629055270.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:10.813Z,1629055270.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:10.813Z,1629055270.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:10.814Z,1629055270.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:11.213Z,1629055271.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00402,187,80,80,68,FF
2021-08-15T19:21:11.213Z,1629055271.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:11.213Z,1629055271.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:11.215Z,1629055271.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:11.625Z,1629055271.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:12.043Z,1629055272.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00407,186,80,80,77,FF
2021-08-15T19:21:12.048Z,1629055272.048 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:12.069Z,1629055272.069 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:21:12.127Z,1629055272.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:12.478Z,1629055272.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192112.38*5D

2021-08-15T19:21:12.529Z,1629055272.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 332.633846 deg, deltaT: 4.445760 s, approachRate: 0.067480 m/s, LOS rate: -5.962072 deg/s, posRepo size: 4
2021-08-15T19:21:14.886Z,1629055274.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:15.257Z,1629055275.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:15.257Z,1629055275.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:15.257Z,1629055275.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:15.258Z,1629055275.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:15.657Z,1629055275.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00407,186,80,80,77,FF
2021-08-15T19:21:15.657Z,1629055275.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:15.657Z,1629055275.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:15.659Z,1629055275.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:16.073Z,1629055276.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:16.474Z,1629055276.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00406,186,80,80,69,FF
2021-08-15T19:21:16.475Z,1629055276.475 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:16.498Z,1629055276.498 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:16.911Z,1629055276.911 [Micromodem](INFO): Nmea in: $SNTTA,0.056793,,,,192116.82*48

2021-08-15T19:21:16.937Z,1629055276.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 326.017169 deg, deltaT: 4.369706 s, approachRate: -0.013730 m/s, LOS rate: -1.514216 deg/s, posRepo size: 4
2021-08-15T19:21:19.348Z,1629055279.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:19.707Z,1629055279.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:19.707Z,1629055279.707 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:19.707Z,1629055279.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:19.709Z,1629055279.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:20.116Z,1629055280.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00406,186,80,80,69,FF
2021-08-15T19:21:20.116Z,1629055280.116 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:20.116Z,1629055280.116 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:20.118Z,1629055280.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:20.432Z,1629055280.432 [CTD_Seabird](ERROR): Failed to parse device response: 5.83,24.29993,4916.00
2021-08-15T19:21:20.517Z,1629055280.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:20.917Z,1629055280.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,186,000,0040B,186,80,80,66,FF
2021-08-15T19:21:20.918Z,1629055280.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:20.973Z,1629055280.973 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:21.349Z,1629055281.349 [Micromodem](INFO): Nmea in: $SNTTA,0.236042,,,,192121.28*43

2021-08-15T19:21:21.410Z,1629055281.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 327.645950 deg, deltaT: 4.475325 s, approachRate: 0.067034 m/s, LOS rate: 0.363947 deg/s, posRepo size: 4
2021-08-15T19:21:23.819Z,1629055283.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:24.153Z,1629055284.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:24.153Z,1629055284.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:24.154Z,1629055284.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:24.155Z,1629055284.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:24.570Z,1629055284.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
186,000,0040B,186,80,80,66,FF
2021-08-15T19:21:24.571Z,1629055284.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:24.571Z,1629055284.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:24.573Z,1629055284.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:25.011Z,1629055285.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:25.401Z,1629055285.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,0040F,186,80,80,75,FF
2021-08-15T19:21:25.402Z,1629055285.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:25.453Z,1629055285.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:25.829Z,1629055285.829 [Micromodem](INFO): Nmea in: $SNTTA,0.052233,,,,192125.74*4A

2021-08-15T19:21:26.023Z,1629055286.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 329.129631 deg, deltaT: 4.480180 s, approachRate: 0.053570 m/s, LOS rate: 0.331165 deg/s, posRepo size: 4
2021-08-15T19:21:28.326Z,1629055288.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:28.673Z,1629055288.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:28.674Z,1629055288.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:28.674Z,1629055288.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:28.675Z,1629055288.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:29.105Z,1629055289.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,0040F,186,80,80,75,FF
2021-08-15T19:21:29.105Z,1629055289.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:29.105Z,1629055289.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:29.107Z,1629055289.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:29.508Z,1629055289.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:29.901Z,1629055289.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00414,186,80,80,62,FF
2021-08-15T19:21:29.902Z,1629055289.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:29.979Z,1629055289.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:30.332Z,1629055290.332 [Micromodem](INFO): Nmea in: $SNTTA,0.258579,,,,192130.27*49

2021-08-15T19:21:30.366Z,1629055290.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 328.747332 deg, deltaT: 4.525688 s, approachRate: 0.066288 m/s, LOS rate: -0.084473 deg/s, posRepo size: 4
2021-08-15T19:21:32.746Z,1629055292.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:33.125Z,1629055293.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:33.125Z,1629055293.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:33.125Z,1629055293.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:33.126Z,1629055293.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:33.564Z,1629055293.564 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00414,186,80,80,62,FF
2021-08-15T19:21:33.564Z,1629055293.564 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:33.564Z,1629055293.564 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:33.569Z,1629055293.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:33.973Z,1629055293.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:34.373Z,1629055294.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00417,187,80,80,6F,FF
2021-08-15T19:21:34.374Z,1629055294.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:34.470Z,1629055294.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:34.809Z,1629055294.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192134.73*56

2021-08-15T19:21:34.868Z,1629055294.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 354.172001 deg, deltaT: 4.490697 s, approachRate: 0.040083 m/s, LOS rate: 5.661631 deg/s, posRepo size: 4
2021-08-15T19:21:37.283Z,1629055297.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:37.609Z,1629055297.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:37.609Z,1629055297.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:37.609Z,1629055297.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:37.610Z,1629055297.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:38.006Z,1629055298.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00417,187,80,80,6F,FF
2021-08-15T19:21:38.006Z,1629055298.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:38.006Z,1629055298.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:38.032Z,1629055298.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:38.422Z,1629055298.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:38.813Z,1629055298.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,0041A,186,80,80,68,FF
2021-08-15T19:21:38.813Z,1629055298.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:38.868Z,1629055298.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:39.237Z,1629055299.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192139.20*5D

2021-08-15T19:21:39.285Z,1629055299.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 8.004279 deg, deltaT: 4.398457 s, approachRate: 0.040923 m/s, LOS rate: 3.144801 deg/s, posRepo size: 4
2021-08-15T19:21:41.685Z,1629055301.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:42.049Z,1629055302.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:42.049Z,1629055302.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:42.049Z,1629055302.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:42.050Z,1629055302.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:42.449Z,1629055302.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,0041A,186,80,80,68,FF
2021-08-15T19:21:42.449Z,1629055302.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:42.449Z,1629055302.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:42.451Z,1629055302.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:42.856Z,1629055302.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:43.262Z,1629055303.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,0041A,186,80,80,61,FF
2021-08-15T19:21:43.262Z,1629055303.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:43.287Z,1629055303.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:43.720Z,1629055303.720 [Micromodem](INFO): Nmea in: $SNTTA,0.031269,,,,192143.62*47

2021-08-15T19:21:43.827Z,1629055303.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 9.606012 deg, deltaT: 4.419328 s, approachRate: 0.000000 m/s, LOS rate: 0.362438 deg/s, posRepo size: 4
2021-08-15T19:21:46.196Z,1629055306.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:46.494Z,1629055306.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:46.494Z,1629055306.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:46.494Z,1629055306.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:46.495Z,1629055306.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:46.893Z,1629055306.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,0041A,186,80,80,61,FF
2021-08-15T19:21:46.893Z,1629055306.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:46.893Z,1629055306.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:46.895Z,1629055306.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:47.341Z,1629055307.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:47.741Z,1629055307.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,0041F,186,80,80,A0,FF
2021-08-15T19:21:47.742Z,1629055307.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:47.862Z,1629055307.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:48.126Z,1629055308.126 [Micromodem](INFO): Nmea in: $SNTTA,0.043163,0.362669,,,192148.06*52

2021-08-15T19:21:48.166Z,1629055308.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 10.640010 deg, deltaT: 4.574369 s, approachRate: 0.065583 m/s, LOS rate: 0.226042 deg/s, posRepo size: 4
2021-08-15T19:21:50.569Z,1629055310.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:50.945Z,1629055310.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:50.945Z,1629055310.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:50.945Z,1629055310.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:50.946Z,1629055310.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:51.337Z,1629055311.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,0041F,186,80,80,A0,FF
2021-08-15T19:21:51.338Z,1629055311.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:51.338Z,1629055311.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:51.339Z,1629055311.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:51.779Z,1629055311.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:52.150Z,1629055312.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE8,000,0042B,188,80,80,4D,FF
2021-08-15T19:21:52.150Z,1629055312.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:52.174Z,1629055312.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:52.589Z,1629055312.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192152.51*56

2021-08-15T19:21:52.611Z,1629055312.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 25.963666 deg, deltaT: 4.312284 s, approachRate: 0.166965 m/s, LOS rate: 3.553489 deg/s, posRepo size: 4
2021-08-15T19:21:54.999Z,1629055314.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:55.377Z,1629055315.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:55.377Z,1629055315.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:55.377Z,1629055315.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:55.378Z,1629055315.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:21:55.821Z,1629055315.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE8,000,0042B,188,80,80,4D,FF
2021-08-15T19:21:55.821Z,1629055315.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:21:55.821Z,1629055315.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:21:55.823Z,1629055315.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:21:56.193Z,1629055316.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:21:56.594Z,1629055316.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00426,186,80,80,86,FF
2021-08-15T19:21:56.594Z,1629055316.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:21:56.650Z,1629055316.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:21:57.028Z,1629055317.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192156.99*56

2021-08-15T19:21:57.078Z,1629055317.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.219999 m, bearing: 10.107349 deg, deltaT: 4.475512 s, approachRate: -0.067031 m/s, LOS rate: -3.542906 deg/s, posRepo size: 4
2021-08-15T19:21:59.453Z,1629055319.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:21:59.825Z,1629055319.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:21:59.825Z,1629055319.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:21:59.825Z,1629055319.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:21:59.826Z,1629055319.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:00.233Z,1629055320.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00426,186,80,80,86,FF
2021-08-15T19:22:00.233Z,1629055320.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:00.233Z,1629055320.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:00.235Z,1629055320.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:00.632Z,1629055320.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:01.044Z,1629055321.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,0042A,186,80,80,AD,FF
2021-08-15T19:22:01.046Z,1629055321.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:01.130Z,1629055321.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:01.477Z,1629055321.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192201.40*53

2021-08-15T19:22:01.499Z,1629055321.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 11.918707 deg, deltaT: 4.479791 s, approachRate: 0.053574 m/s, LOS rate: 0.404340 deg/s, posRepo size: 4
2021-08-15T19:22:03.907Z,1629055323.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:04.265Z,1629055324.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:04.265Z,1629055324.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:04.265Z,1629055324.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:04.266Z,1629055324.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:04.681Z,1629055324.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,0042A,186,80,80,AD,FF
2021-08-15T19:22:04.681Z,1629055324.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:04.682Z,1629055324.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:04.683Z,1629055324.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:05.113Z,1629055325.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:05.489Z,1629055325.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,0042B,187,80,80,AE,FF
2021-08-15T19:22:05.489Z,1629055325.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:05.508Z,1629055325.508 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:05.938Z,1629055325.938 [Micromodem](INFO): Nmea in: $SNTTA,0.066745,0.466587,,,192205.85*56

2021-08-15T19:22:05.974Z,1629055325.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 10.164174 deg, deltaT: 4.378686 s, approachRate: 0.013702 m/s, LOS rate: -0.400699 deg/s, posRepo size: 4
2021-08-15T19:22:08.359Z,1629055328.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:08.713Z,1629055328.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:08.713Z,1629055328.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:08.713Z,1629055328.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:08.714Z,1629055328.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:09.126Z,1629055329.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,0042B,187,80,80,AE,FF
2021-08-15T19:22:09.126Z,1629055329.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:09.126Z,1629055329.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:09.129Z,1629055329.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:09.528Z,1629055329.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:09.929Z,1629055329.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0042E,186,80,80,AC,FF
2021-08-15T19:22:09.929Z,1629055329.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:10.001Z,1629055330.001 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:10.361Z,1629055330.361 [Micromodem](INFO): Nmea in: $SNTTA,,0.244794,,,192210.30*42

2021-08-15T19:22:10.394Z,1629055330.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 9.342844 deg, deltaT: 4.492752 s, approachRate: 0.040065 m/s, LOS rate: -0.182812 deg/s, posRepo size: 4
2021-08-15T19:22:12.793Z,1629055332.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:13.157Z,1629055333.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:13.157Z,1629055333.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:13.157Z,1629055333.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:13.158Z,1629055333.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:13.565Z,1629055333.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0042E,186,80,80,AC,FF
2021-08-15T19:22:13.565Z,1629055333.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:13.566Z,1629055333.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:13.567Z,1629055333.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:13.969Z,1629055333.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:14.393Z,1629055334.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00431,186,80,80,BE,FF
2021-08-15T19:22:14.394Z,1629055334.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:14.471Z,1629055334.471 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:14.821Z,1629055334.821 [Micromodem](INFO): Nmea in: $SNTTA,0.034056,,,,192214.73*4D

2021-08-15T19:22:14.875Z,1629055334.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 9.186295 deg, deltaT: 4.487085 s, approachRate: 0.040115 m/s, LOS rate: -0.034889 deg/s, posRepo size: 4
2021-08-15T19:22:17.224Z,1629055337.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:17.617Z,1629055337.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:17.617Z,1629055337.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:17.617Z,1629055337.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:17.618Z,1629055337.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:18.005Z,1629055338.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00431,186,80,80,BE,FF
2021-08-15T19:22:18.005Z,1629055338.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:18.005Z,1629055338.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:18.007Z,1629055338.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:18.427Z,1629055338.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:18.818Z,1629055338.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00437,186,80,80,5D,FF
2021-08-15T19:22:18.818Z,1629055338.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:18.847Z,1629055338.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:19.261Z,1629055339.261 [Micromodem](INFO): Nmea in: $SNTTA,0.057851,,,,192219.18*47

2021-08-15T19:22:19.296Z,1629055339.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 9.535177 deg, deltaT: 4.359019 s, approachRate: 0.082587 m/s, LOS rate: 0.080037 deg/s, posRepo size: 4
2021-08-15T19:22:21.687Z,1629055341.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:22.105Z,1629055342.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:22.105Z,1629055342.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:22.105Z,1629055342.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:22.106Z,1629055342.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:22.458Z,1629055342.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00437,186,80,80,5D,FF
2021-08-15T19:22:22.458Z,1629055342.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:22.458Z,1629055342.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:22.485Z,1629055342.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:22.867Z,1629055342.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:23.262Z,1629055343.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,0043C,186,80,80,8A,FF
2021-08-15T19:22:23.263Z,1629055343.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:23.354Z,1629055343.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:23.687Z,1629055343.687 [Micromodem](INFO): Nmea in: $SNTTA,0.059046,,,,192223.65*44

2021-08-15T19:22:23.793Z,1629055343.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.539997 m, bearing: 8.912236 deg, deltaT: 4.507346 s, approachRate: 0.066558 m/s, LOS rate: -0.138206 deg/s, posRepo size: 4
2021-08-15T19:22:26.171Z,1629055346.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:26.493Z,1629055346.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:26.493Z,1629055346.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:26.494Z,1629055346.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:26.494Z,1629055346.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:26.885Z,1629055346.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,0043C,186,80,80,8A,FF
2021-08-15T19:22:26.885Z,1629055346.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:26.885Z,1629055346.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:26.887Z,1629055346.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:27.323Z,1629055347.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:27.706Z,1629055347.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00444,186,80,80,B9,FF
2021-08-15T19:22:27.707Z,1629055347.707 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:27.811Z,1629055347.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:28.133Z,1629055348.133 [Micromodem](INFO): Nmea in: $SNTTA,0.067563,0.367113,,,192228.05*59

2021-08-15T19:22:28.231Z,1629055348.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 6.998186 deg, deltaT: 4.461551 s, approachRate: 0.107587 m/s, LOS rate: -0.429010 deg/s, posRepo size: 4
2021-08-15T19:22:30.546Z,1629055350.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:30.929Z,1629055350.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:30.929Z,1629055350.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:30.929Z,1629055350.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:30.930Z,1629055350.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:31.341Z,1629055351.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00444,186,80,80,B9,FF
2021-08-15T19:22:31.341Z,1629055351.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:31.341Z,1629055351.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:31.343Z,1629055351.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:31.779Z,1629055351.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:32.141Z,1629055352.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00448,186,80,80,A9,FF
2021-08-15T19:22:32.141Z,1629055352.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:32.145Z,1629055352.145 [Micromodem](INFO): Nmea in: $SNTTA,0.139534,0.139503,,,192232.51*57

2021-08-15T19:22:32.203Z,1629055352.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:32.579Z,1629055352.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 6.721361 deg, deltaT: 4.387134 s, approachRate: 0.054704 m/s, LOS rate: -0.063099 deg/s, posRepo size: 4
2021-08-15T19:22:34.986Z,1629055354.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:35.377Z,1629055355.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:35.377Z,1629055355.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:35.377Z,1629055355.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:35.378Z,1629055355.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:35.817Z,1629055355.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00448,186,80,80,A9,FF
2021-08-15T19:22:35.817Z,1629055355.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:35.818Z,1629055355.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:35.819Z,1629055355.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:36.221Z,1629055356.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:36.625Z,1629055356.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,0044D,186,80,80,99,FF
2021-08-15T19:22:36.626Z,1629055356.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:36.669Z,1629055356.669 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:37.077Z,1629055357.077 [Micromodem](INFO): Nmea in: $SNTTA,0.058918,,,,192236.98*41

2021-08-15T19:22:37.150Z,1629055357.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 4.201334 deg, deltaT: 4.465498 s, approachRate: 0.067182 m/s, LOS rate: -0.564333 deg/s, posRepo size: 4
2021-08-15T19:22:39.501Z,1629055359.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:39.852Z,1629055359.852 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:39.852Z,1629055359.852 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:39.852Z,1629055359.852 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:39.853Z,1629055359.853 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:40.253Z,1629055360.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,0044D,186,80,80,99,FF
2021-08-15T19:22:40.253Z,1629055360.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:40.253Z,1629055360.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:40.255Z,1629055360.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:40.671Z,1629055360.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:41.061Z,1629055361.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,00459,187,80,80,73,FF
2021-08-15T19:22:41.062Z,1629055361.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:41.125Z,1629055361.125 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:41.505Z,1629055361.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192241.42*55

2021-08-15T19:22:41.524Z,1629055361.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 5.660818 deg, deltaT: 4.456837 s, approachRate: 0.161551 m/s, LOS rate: 0.327471 deg/s, posRepo size: 4
2021-08-15T19:22:43.948Z,1629055363.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:44.302Z,1629055364.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:44.302Z,1629055364.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:44.302Z,1629055364.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:44.303Z,1629055364.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:44.706Z,1629055364.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,00459,187,80,80,73,FF
2021-08-15T19:22:44.706Z,1629055364.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:44.706Z,1629055364.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:44.707Z,1629055364.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:44.787Z,1629055364.787 [CTD_Seabird](ERROR): Failed to parse device response: 5.59,24913.28
2021-08-15T19:22:45.109Z,1629055365.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:45.505Z,1629055365.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00455,186,80,80,86,FF
2021-08-15T19:22:45.506Z,1629055365.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:45.525Z,1629055365.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:45.949Z,1629055365.949 [Micromodem](INFO): Nmea in: $SNTTA,0.032657,,,,192245.88*4C

2021-08-15T19:22:46.185Z,1629055366.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 359.657599 deg, deltaT: 4.399062 s, approachRate: -0.054557 m/s, LOS rate: -1.364656 deg/s, posRepo size: 4
2021-08-15T19:22:48.389Z,1629055368.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:48.753Z,1629055368.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:48.754Z,1629055368.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:48.754Z,1629055368.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:48.755Z,1629055368.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:49.169Z,1629055369.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00455,186,80,80,86,FF
2021-08-15T19:22:49.169Z,1629055369.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:49.169Z,1629055369.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:49.171Z,1629055369.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:49.592Z,1629055369.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:49.966Z,1629055369.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,0045C,186,80,80,8C,FF
2021-08-15T19:22:49.966Z,1629055369.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:50.029Z,1629055370.029 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:50.399Z,1629055370.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192250.34*54

2021-08-15T19:22:50.429Z,1629055370.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 355.650190 deg, deltaT: 4.504426 s, approachRate: 0.093242 m/s, LOS rate: -0.889660 deg/s, posRepo size: 4
2021-08-15T19:22:52.825Z,1629055372.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:53.197Z,1629055373.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:53.197Z,1629055373.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:53.197Z,1629055373.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:53.198Z,1629055373.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:53.609Z,1629055373.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,0045C,186,80,80,8C,FF
2021-08-15T19:22:53.609Z,1629055373.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:53.609Z,1629055373.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:53.611Z,1629055373.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:54.018Z,1629055374.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:54.414Z,1629055374.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00462,185,80,80,8D,FF
2021-08-15T19:22:54.414Z,1629055374.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:54.438Z,1629055374.438 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:54.857Z,1629055374.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192254.78*58

2021-08-15T19:22:54.898Z,1629055374.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 349.537526 deg, deltaT: 4.409013 s, approachRate: 0.081650 m/s, LOS rate: -1.386402 deg/s, posRepo size: 4
2021-08-15T19:22:57.296Z,1629055377.296 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:22:57.646Z,1629055377.646 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:22:57.646Z,1629055377.646 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:22:57.646Z,1629055377.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:22:57.647Z,1629055377.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:22:58.045Z,1629055378.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00462,185,80,80,8D,FF
2021-08-15T19:22:58.045Z,1629055378.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:22:58.046Z,1629055378.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:22:58.047Z,1629055378.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:22:58.457Z,1629055378.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:22:58.853Z,1629055378.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,00467,187,80,80,64,FF
2021-08-15T19:22:58.854Z,1629055378.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:22:58.926Z,1629055378.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:22:59.294Z,1629055379.294 [Micromodem](INFO): Nmea in: $SNTTA,0.063170,,,,192259.21*44

2021-08-15T19:22:59.321Z,1629055379.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 343.844837 deg, deltaT: 4.487763 s, approachRate: 0.066848 m/s, LOS rate: -1.268492 deg/s, posRepo size: 4
2021-08-15T19:23:01.762Z,1629055381.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:02.113Z,1629055382.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:02.113Z,1629055382.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:02.113Z,1629055382.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:02.114Z,1629055382.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:02.499Z,1629055382.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,00467,187,80,80,64,FF
2021-08-15T19:23:02.499Z,1629055382.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:02.499Z,1629055382.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:02.501Z,1629055382.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:02.896Z,1629055382.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:03.302Z,1629055383.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0046E,186,80,80,6B,FF
2021-08-15T19:23:03.303Z,1629055383.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:03.379Z,1629055383.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:03.769Z,1629055383.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192303.67*55

2021-08-15T19:23:03.819Z,1629055383.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 337.534534 deg, deltaT: 4.452924 s, approachRate: 0.094320 m/s, LOS rate: -1.417114 deg/s, posRepo size: 4
2021-08-15T19:23:06.173Z,1629055386.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:06.573Z,1629055386.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:06.573Z,1629055386.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:06.573Z,1629055386.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:06.574Z,1629055386.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:06.933Z,1629055386.933 [CTD_Seabird](ERROR): Failed to parse device response: .94
2021-08-15T19:23:06.985Z,1629055386.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,0046E,186,80,80,6B,FF
2021-08-15T19:23:06.985Z,1629055386.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:06.985Z,1629055386.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:06.987Z,1629055386.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:07.406Z,1629055387.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:07.831Z,1629055387.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,00474,185,80,80,52,FF
2021-08-15T19:23:07.832Z,1629055387.832 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:07.843Z,1629055387.843 [Micromodem](INFO): Nmea in: $SNTTA,0.316100,0.275312,,,192308.15*5E

2021-08-15T19:23:07.927Z,1629055387.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:08.216Z,1629055388.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 325.908787 deg, deltaT: 4.552907 s, approachRate: 0.079071 m/s, LOS rate: -2.553478 deg/s, posRepo size: 4
2021-08-15T19:23:10.645Z,1629055390.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:11.052Z,1629055391.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:11.053Z,1629055391.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:11.053Z,1629055391.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:11.055Z,1629055391.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:11.417Z,1629055391.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,00474,185,80,80,52,FF
2021-08-15T19:23:11.417Z,1629055391.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:11.417Z,1629055391.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:11.419Z,1629055391.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:11.829Z,1629055391.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:12.229Z,1629055392.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00478,186,80,80,6E,FF
2021-08-15T19:23:12.230Z,1629055392.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:12.287Z,1629055392.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:12.661Z,1629055392.661 [Micromodem](INFO): Nmea in: $SNTTA,0.034115,,,,192312.59*44

2021-08-15T19:23:12.700Z,1629055392.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 303.094016 deg, deltaT: 4.360090 s, approachRate: 0.055044 m/s, LOS rate: -5.232638 deg/s, posRepo size: 4
2021-08-15T19:23:15.094Z,1629055395.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:15.461Z,1629055395.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:15.461Z,1629055395.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:15.461Z,1629055395.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:15.462Z,1629055395.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:15.858Z,1629055395.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00478,186,80,80,6E,FF
2021-08-15T19:23:15.858Z,1629055395.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:15.858Z,1629055395.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:15.861Z,1629055395.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:16.269Z,1629055396.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:16.674Z,1629055396.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,184,000,00480,186,80,80,78,FF
2021-08-15T19:23:16.674Z,1629055396.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:16.704Z,1629055396.704 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:17.109Z,1629055397.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192317.03*52

2021-08-15T19:23:17.132Z,1629055397.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 307.813075 deg, deltaT: 4.412179 s, approachRate: 0.108791 m/s, LOS rate: 1.069553 deg/s, posRepo size: 4
2021-08-15T19:23:19.526Z,1629055399.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:19.905Z,1629055399.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:19.906Z,1629055399.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:19.906Z,1629055399.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:19.907Z,1629055399.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:20.314Z,1629055400.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
184,000,00480,186,80,80,78,FF
2021-08-15T19:23:20.314Z,1629055400.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:20.314Z,1629055400.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:20.340Z,1629055400.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:20.719Z,1629055400.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:21.117Z,1629055401.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00484,186,80,80,79,FF
2021-08-15T19:23:21.117Z,1629055401.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:21.145Z,1629055401.145 [Micromodem](INFO): Nmea in: $SNTTA,0.051855,0.163843,,,192321.51*57

2021-08-15T19:23:21.194Z,1629055401.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:21.553Z,1629055401.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 303.263104 deg, deltaT: 4.490048 s, approachRate: 0.053451 m/s, LOS rate: -1.013346 deg/s, posRepo size: 4
2021-08-15T19:23:24.010Z,1629055404.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:24.365Z,1629055404.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:24.365Z,1629055404.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:24.366Z,1629055404.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:24.367Z,1629055404.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:24.749Z,1629055404.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00484,186,80,80,79,FF
2021-08-15T19:23:24.749Z,1629055404.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:24.749Z,1629055404.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:24.753Z,1629055404.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:25.162Z,1629055405.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:25.589Z,1629055405.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00486,186,80,80,68,FF
2021-08-15T19:23:25.590Z,1629055405.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:25.593Z,1629055405.593 [Micromodem](INFO): Nmea in: $SNTTA,0.068394,0.271382,,,192325.92*56

2021-08-15T19:23:25.663Z,1629055405.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:26.047Z,1629055406.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 338.506853 deg, deltaT: 4.468918 s, approachRate: 0.026852 m/s, LOS rate: 7.886416 deg/s, posRepo size: 4
2021-08-15T19:23:28.465Z,1629055408.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:28.801Z,1629055408.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:28.801Z,1629055408.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:28.801Z,1629055408.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:28.802Z,1629055408.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:29.198Z,1629055409.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00486,186,80,80,68,FF
2021-08-15T19:23:29.198Z,1629055409.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:29.199Z,1629055409.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:29.201Z,1629055409.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:29.613Z,1629055409.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:30.051Z,1629055410.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,0048D,186,80,80,55,FF
2021-08-15T19:23:30.057Z,1629055410.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:30.161Z,1629055410.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:30.442Z,1629055410.442 [Micromodem](INFO): Nmea in: $SNTTA,,0.170093,,,192330.37*42

2021-08-15T19:23:30.457Z,1629055410.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 337.993059 deg, deltaT: 4.497720 s, approachRate: 0.093381 m/s, LOS rate: -0.114234 deg/s, posRepo size: 4
2021-08-15T19:23:32.861Z,1629055412.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:33.244Z,1629055413.244 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:33.245Z,1629055413.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:33.246Z,1629055413.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:33.247Z,1629055413.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:33.641Z,1629055413.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,0048D,186,80,80,55,FF
2021-08-15T19:23:33.642Z,1629055413.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:33.642Z,1629055413.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:33.643Z,1629055413.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:34.052Z,1629055414.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:34.450Z,1629055414.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00492,186,80,80,78,FF
2021-08-15T19:23:34.450Z,1629055414.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:34.474Z,1629055414.474 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:34.894Z,1629055414.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192334.81*59

2021-08-15T19:23:34.968Z,1629055414.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 346.004024 deg, deltaT: 4.313192 s, approachRate: 0.069554 m/s, LOS rate: 1.857317 deg/s, posRepo size: 4
2021-08-15T19:23:37.342Z,1629055417.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:37.677Z,1629055417.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:37.677Z,1629055417.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:37.677Z,1629055417.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:37.678Z,1629055417.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:38.105Z,1629055418.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00492,186,80,80,78,FF
2021-08-15T19:23:38.105Z,1629055418.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:38.106Z,1629055418.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:38.107Z,1629055418.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:38.493Z,1629055418.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:38.898Z,1629055418.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00496,186,80,80,91,FF
2021-08-15T19:23:38.898Z,1629055418.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:38.922Z,1629055418.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:39.318Z,1629055419.318 [Micromodem](INFO): Nmea in: $SNTTA,0.044402,,,,192339.28*4F

2021-08-15T19:23:39.361Z,1629055419.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 350.858840 deg, deltaT: 4.448289 s, approachRate: 0.053954 m/s, LOS rate: 1.091390 deg/s, posRepo size: 4
2021-08-15T19:23:41.797Z,1629055421.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:42.140Z,1629055422.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:42.141Z,1629055422.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:42.141Z,1629055422.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:42.142Z,1629055422.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:42.529Z,1629055422.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00496,186,80,80,91,FF
2021-08-15T19:23:42.529Z,1629055422.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:42.529Z,1629055422.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:42.531Z,1629055422.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:42.945Z,1629055422.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:43.349Z,1629055423.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,0049C,186,80,80,A7,FF
2021-08-15T19:23:43.350Z,1629055423.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:43.398Z,1629055423.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:43.797Z,1629055423.797 [Micromodem](INFO): Nmea in: $SNTTA,0.060184,,,,192343.70*42

2021-08-15T19:23:43.891Z,1629055423.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 353.123813 deg, deltaT: 4.476478 s, approachRate: 0.080421 m/s, LOS rate: 0.505972 deg/s, posRepo size: 4
2021-08-15T19:23:46.211Z,1629055426.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:46.573Z,1629055426.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:46.573Z,1629055426.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:46.573Z,1629055426.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:46.574Z,1629055426.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:46.979Z,1629055426.979 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E38,000,0049C,186,80,80,A7,FF
2021-08-15T19:23:46.979Z,1629055426.979 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:46.979Z,1629055426.979 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:46.981Z,1629055426.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:47.389Z,1629055427.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:47.813Z,1629055427.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,004A2,186,80,80,6A,FF
2021-08-15T19:23:47.814Z,1629055427.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:47.817Z,1629055427.817 [Micromodem](INFO): Nmea in: $SNTTA,0.041556,0.277550,,,192348.15*5E

2021-08-15T19:23:47.933Z,1629055427.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:48.230Z,1629055428.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.660000 m, bearing: 353.263203 deg, deltaT: 4.534899 s, approachRate: 0.079384 m/s, LOS rate: 0.030737 deg/s, posRepo size: 4
2021-08-15T19:23:50.625Z,1629055430.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:51.021Z,1629055431.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:51.021Z,1629055431.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:51.021Z,1629055431.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:51.022Z,1629055431.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:51.417Z,1629055431.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,004A2,186,80,80,6A,FF
2021-08-15T19:23:51.417Z,1629055431.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:51.417Z,1629055431.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:51.419Z,1629055431.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:51.833Z,1629055431.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:52.225Z,1629055432.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,004A4,186,80,80,91,FF
2021-08-15T19:23:52.225Z,1629055432.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:52.305Z,1629055432.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:52.668Z,1629055432.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192352.58*5D

2021-08-15T19:23:52.687Z,1629055432.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 351.992952 deg, deltaT: 4.372113 s, approachRate: 0.027446 m/s, LOS rate: -0.290535 deg/s, posRepo size: 4
2021-08-15T19:23:55.109Z,1629055435.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:55.457Z,1629055435.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:55.457Z,1629055435.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:55.457Z,1629055435.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:55.458Z,1629055435.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:23:55.867Z,1629055435.867 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,004A4,186,80,80,91,FF
2021-08-15T19:23:55.868Z,1629055435.868 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:23:55.868Z,1629055435.868 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:23:55.870Z,1629055435.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:23:56.268Z,1629055436.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:23:56.677Z,1629055436.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,004A7,186,80,80,A1,FF
2021-08-15T19:23:56.678Z,1629055436.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:23:56.696Z,1629055436.696 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:23:57.130Z,1629055437.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192357.04*51

2021-08-15T19:23:57.160Z,1629055437.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 353.767462 deg, deltaT: 4.390720 s, approachRate: 0.040996 m/s, LOS rate: 0.404150 deg/s, posRepo size: 4
2021-08-15T19:23:59.519Z,1629055439.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:23:59.901Z,1629055439.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:23:59.901Z,1629055439.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:23:59.901Z,1629055439.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:23:59.902Z,1629055439.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:00.306Z,1629055440.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,004A7,186,80,80,A1,FF
2021-08-15T19:24:00.306Z,1629055440.306 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:00.306Z,1629055440.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:00.325Z,1629055440.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:00.727Z,1629055440.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:01.149Z,1629055441.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,004AB,186,80,80,8F,FF
2021-08-15T19:24:01.149Z,1629055441.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:01.221Z,1629055441.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:01.554Z,1629055441.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192401.49*5C

2021-08-15T19:24:01.575Z,1629055441.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 353.776642 deg, deltaT: 4.524503 s, approachRate: 0.053045 m/s, LOS rate: 0.002029 deg/s, posRepo size: 4
2021-08-15T19:24:02.371Z,1629055442.371 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T19:24:03.997Z,1629055443.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:04.353Z,1629055444.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:04.354Z,1629055444.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:04.354Z,1629055444.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:04.355Z,1629055444.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:04.749Z,1629055444.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,004AB,186,80,80,8F,FF
2021-08-15T19:24:04.749Z,1629055444.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:04.750Z,1629055444.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:04.751Z,1629055444.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:05.161Z,1629055445.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:05.561Z,1629055445.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,004AF,186,80,80,9B,FF
2021-08-15T19:24:05.561Z,1629055445.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:05.581Z,1629055445.581 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:05.993Z,1629055445.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192405.92*5E

2021-08-15T19:24:06.088Z,1629055446.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.439999 m, bearing: 349.838218 deg, deltaT: 4.359999 s, approachRate: 0.055045 m/s, LOS rate: -0.903308 deg/s, posRepo size: 4
2021-08-15T19:24:08.083Z,1629055448.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:08.389Z,1629055448.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:08.389Z,1629055448.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:08.389Z,1629055448.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:08.390Z,1629055448.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:08.793Z,1629055448.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,004AF,186,80,80,9B,FF
2021-08-15T19:24:08.793Z,1629055448.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:08.793Z,1629055448.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:08.795Z,1629055448.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:09.216Z,1629055449.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:09.601Z,1629055449.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,004B8,186,80,80,96,FF
2021-08-15T19:24:09.601Z,1629055449.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:09.652Z,1629055449.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:10.046Z,1629055450.046 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192409.96*56

2021-08-15T19:24:10.085Z,1629055450.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.980000 m, bearing: 351.622920 deg, deltaT: 4.071780 s, approachRate: 0.132620 m/s, LOS rate: 0.438310 deg/s, posRepo size: 4
2021-08-15T19:24:12.473Z,1629055452.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:12.834Z,1629055452.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:12.834Z,1629055452.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:12.834Z,1629055452.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:12.835Z,1629055452.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:13.234Z,1629055453.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,004B8,186,80,80,96,FF
2021-08-15T19:24:13.234Z,1629055453.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:13.234Z,1629055453.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:13.235Z,1629055453.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:13.656Z,1629055453.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:14.056Z,1629055454.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,004BD,186,80,80,9A,FF
2021-08-15T19:24:14.058Z,1629055454.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:14.178Z,1629055454.178 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:14.473Z,1629055454.473 [Micromodem](INFO): Nmea in: $SNTTA,,0.151070,,,192414.40*4D

2021-08-15T19:24:14.495Z,1629055454.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 346.965468 deg, deltaT: 4.525663 s, approachRate: 0.066288 m/s, LOS rate: -1.029120 deg/s, posRepo size: 4
2021-08-15T19:24:16.886Z,1629055456.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:17.289Z,1629055457.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:17.289Z,1629055457.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:17.289Z,1629055457.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:17.290Z,1629055457.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:17.685Z,1629055457.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,004BD,186,80,80,9A,FF
2021-08-15T19:24:17.685Z,1629055457.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:17.685Z,1629055457.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:17.688Z,1629055457.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:18.113Z,1629055458.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:18.493Z,1629055458.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,004C3,186,80,80,59,FF
2021-08-15T19:24:18.494Z,1629055458.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:18.512Z,1629055458.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:18.925Z,1629055458.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192418.86*57

2021-08-15T19:24:18.957Z,1629055458.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 349.294727 deg, deltaT: 4.334197 s, approachRate: 0.083061 m/s, LOS rate: 0.537414 deg/s, posRepo size: 4
2021-08-15T19:24:21.335Z,1629055461.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:21.737Z,1629055461.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:21.737Z,1629055461.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:21.738Z,1629055461.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:21.739Z,1629055461.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:22.145Z,1629055462.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,004C3,186,80,80,59,FF
2021-08-15T19:24:22.145Z,1629055462.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:22.145Z,1629055462.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:22.147Z,1629055462.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:22.528Z,1629055462.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:22.941Z,1629055462.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E27,000,004C7,186,80,80,76,FF
2021-08-15T19:24:22.941Z,1629055462.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:23.067Z,1629055463.067 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:23.377Z,1629055463.377 [Micromodem](INFO): Nmea in: $SNTTA,0.043257,,,,192423.32*49

2021-08-15T19:24:23.439Z,1629055463.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 349.756174 deg, deltaT: 4.560140 s, approachRate: 0.052630 m/s, LOS rate: 0.101192 deg/s, posRepo size: 4
2021-08-15T19:24:25.845Z,1629055465.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:26.182Z,1629055466.182 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:26.182Z,1629055466.182 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:26.183Z,1629055466.183 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:26.183Z,1629055466.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:26.565Z,1629055466.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E27,000,004C7,186,80,80,76,FF
2021-08-15T19:24:26.565Z,1629055466.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:26.565Z,1629055466.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:26.567Z,1629055466.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:26.985Z,1629055466.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:27.377Z,1629055467.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,004CA,186,80,80,AD,FF
2021-08-15T19:24:27.378Z,1629055467.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:27.465Z,1629055467.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:27.829Z,1629055467.829 [Micromodem](INFO): Nmea in: $SNTTA,0.082400,,,,192427.73*41

2021-08-15T19:24:27.889Z,1629055467.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.060001 m, bearing: 349.906848 deg, deltaT: 4.392698 s, approachRate: 0.040977 m/s, LOS rate: 0.034301 deg/s, posRepo size: 4
2021-08-15T19:24:30.262Z,1629055470.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:30.605Z,1629055470.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:30.605Z,1629055470.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:30.605Z,1629055470.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:30.606Z,1629055470.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:31.016Z,1629055471.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,004CA,186,80,80,AD,FF
2021-08-15T19:24:31.017Z,1629055471.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:31.017Z,1629055471.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:31.020Z,1629055471.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:31.417Z,1629055471.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:31.827Z,1629055471.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,004D1,185,80,80,A5,FF
2021-08-15T19:24:31.829Z,1629055471.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:31.837Z,1629055471.837 [Micromodem](INFO): Nmea in: $SNTTA,0.298723,0.298810,,,192432.19*56

2021-08-15T19:24:31.924Z,1629055471.924 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:32.301Z,1629055472.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 346.184395 deg, deltaT: 4.458751 s, approachRate: 0.094196 m/s, LOS rate: -0.834865 deg/s, posRepo size: 4
2021-08-15T19:24:34.694Z,1629055474.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:35.060Z,1629055475.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:35.060Z,1629055475.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:35.061Z,1629055475.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:35.062Z,1629055475.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:35.465Z,1629055475.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,004D1,185,80,80,A5,FF
2021-08-15T19:24:35.465Z,1629055475.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:35.466Z,1629055475.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:35.472Z,1629055475.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:35.884Z,1629055475.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:36.261Z,1629055476.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E43,000,004D6,186,80,80,73,FF
2021-08-15T19:24:36.261Z,1629055476.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:36.340Z,1629055476.340 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:36.693Z,1629055476.693 [Micromodem](INFO): Nmea in: $SNTTA,0.042656,,,,192436.64*4A

2021-08-15T19:24:36.749Z,1629055476.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 346.475580 deg, deltaT: 4.416061 s, approachRate: 0.067934 m/s, LOS rate: 0.065938 deg/s, posRepo size: 4
2021-08-15T19:24:39.183Z,1629055479.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:39.505Z,1629055479.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:39.505Z,1629055479.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:39.505Z,1629055479.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:39.506Z,1629055479.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:39.913Z,1629055479.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E43,000,004D6,186,80,80,73,FF
2021-08-15T19:24:39.913Z,1629055479.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:39.913Z,1629055479.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:39.915Z,1629055479.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:40.319Z,1629055480.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:40.709Z,1629055480.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,004DE,186,80,80,94,FF
2021-08-15T19:24:40.710Z,1629055480.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:40.729Z,1629055480.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:41.153Z,1629055481.153 [Micromodem](INFO): Nmea in: $SNTTA,0.049838,,,,192441.08*4D

2021-08-15T19:24:41.190Z,1629055481.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 346.929760 deg, deltaT: 4.388898 s, approachRate: 0.109367 m/s, LOS rate: 0.103484 deg/s, posRepo size: 4
2021-08-15T19:24:43.561Z,1629055483.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:43.933Z,1629055483.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:43.933Z,1629055483.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:43.933Z,1629055483.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:43.934Z,1629055483.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:44.349Z,1629055484.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,004DE,186,80,80,94,FF
2021-08-15T19:24:44.349Z,1629055484.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:44.349Z,1629055484.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:44.351Z,1629055484.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:44.749Z,1629055484.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:45.158Z,1629055485.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,004DD,186,80,80,A9,FF
2021-08-15T19:24:45.158Z,1629055485.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:45.187Z,1629055485.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:45.589Z,1629055485.589 [Micromodem](INFO): Nmea in: $SNTTA,0.067277,,,,192445.52*4B

2021-08-15T19:24:45.611Z,1629055485.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 345.616888 deg, deltaT: 4.458120 s, approachRate: -0.013458 m/s, LOS rate: -0.294490 deg/s, posRepo size: 4
2021-08-15T19:24:48.162Z,1629055488.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:48.391Z,1629055488.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:48.391Z,1629055488.391 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:48.391Z,1629055488.391 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:48.392Z,1629055488.392 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:48.785Z,1629055488.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,004DD,186,80,80,A9,FF
2021-08-15T19:24:48.785Z,1629055488.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:48.785Z,1629055488.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:48.787Z,1629055488.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:49.193Z,1629055489.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:49.597Z,1629055489.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,004E4,186,80,80,67,FF
2021-08-15T19:24:49.598Z,1629055489.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:49.661Z,1629055489.661 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:50.032Z,1629055490.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192449.96*52

2021-08-15T19:24:50.119Z,1629055490.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.620003 m, bearing: 347.963878 deg, deltaT: 4.474496 s, approachRate: 0.093866 m/s, LOS rate: 0.524526 deg/s, posRepo size: 4
2021-08-15T19:24:52.463Z,1629055492.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:52.829Z,1629055492.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:52.830Z,1629055492.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:52.830Z,1629055492.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:52.831Z,1629055492.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:53.241Z,1629055493.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,004E4,186,80,80,67,FF
2021-08-15T19:24:53.241Z,1629055493.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:53.241Z,1629055493.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:53.243Z,1629055493.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:53.694Z,1629055493.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:54.109Z,1629055494.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,004ED,185,80,80,A3,FF
2021-08-15T19:24:54.109Z,1629055494.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:54.113Z,1629055494.113 [Micromodem](INFO): Nmea in: $SNTTA,0.050296,0.186778,,,192454.41*5B

2021-08-15T19:24:54.197Z,1629055494.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:54.533Z,1629055494.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.159996 m, bearing: 345.592764 deg, deltaT: 4.535618 s, approachRate: 0.119056 m/s, LOS rate: -0.522776 deg/s, posRepo size: 4
2021-08-15T19:24:56.933Z,1629055496.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:24:57.318Z,1629055497.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:24:57.318Z,1629055497.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:24:57.318Z,1629055497.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:24:57.319Z,1629055497.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:24:57.728Z,1629055497.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,004ED,185,80,80,A3,FF
2021-08-15T19:24:57.729Z,1629055497.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:24:57.729Z,1629055497.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:24:57.735Z,1629055497.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:24:58.125Z,1629055498.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:24:58.521Z,1629055498.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,004F0,186,80,80,83,FF
2021-08-15T19:24:58.521Z,1629055498.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:24:58.540Z,1629055498.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:24:58.957Z,1629055498.957 [Micromodem](INFO): Nmea in: $SNTTA,0.047104,,,,192458.90*4C

2021-08-15T19:24:58.992Z,1629055498.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.340000 m, bearing: 340.766170 deg, deltaT: 4.343200 s, approachRate: 0.041445 m/s, LOS rate: -1.111299 deg/s, posRepo size: 4
2021-08-15T19:25:01.392Z,1629055501.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:01.789Z,1629055501.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:01.789Z,1629055501.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:01.789Z,1629055501.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:01.790Z,1629055501.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:02.157Z,1629055502.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,004F0,186,80,80,83,FF
2021-08-15T19:25:02.157Z,1629055502.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:02.157Z,1629055502.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:02.159Z,1629055502.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:02.565Z,1629055502.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:02.973Z,1629055502.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,004FE,185,80,80,88,FF
2021-08-15T19:25:02.974Z,1629055502.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:02.992Z,1629055502.992 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:25:03.413Z,1629055503.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192503.33*52

2021-08-15T19:25:03.459Z,1629055503.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.180000 m, bearing: 338.822462 deg, deltaT: 4.452137 s, approachRate: 0.188673 m/s, LOS rate: -0.436579 deg/s, posRepo size: 4
2021-08-15T19:25:05.884Z,1629055505.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:06.197Z,1629055506.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:06.197Z,1629055506.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:06.197Z,1629055506.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:06.198Z,1629055506.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:06.606Z,1629055506.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,004FE,185,80,80,88,FF
2021-08-15T19:25:06.606Z,1629055506.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:06.606Z,1629055506.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:06.608Z,1629055506.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:07.005Z,1629055507.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:07.409Z,1629055507.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,004FD,186,80,80,60,FF
2021-08-15T19:25:07.410Z,1629055507.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:07.514Z,1629055507.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:25:07.826Z,1629055507.826 [Micromodem](INFO): Nmea in: $SNTTA,0.038050,0.463479,,,192507.77*53

2021-08-15T19:25:07.889Z,1629055507.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 327.103032 deg, deltaT: 4.521981 s, approachRate: -0.013269 m/s, LOS rate: -2.591658 deg/s, posRepo size: 4
2021-08-15T19:25:10.278Z,1629055510.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:10.645Z,1629055510.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:10.645Z,1629055510.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:10.645Z,1629055510.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:10.646Z,1629055510.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:11.060Z,1629055511.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,004FD,186,80,80,60,FF
2021-08-15T19:25:11.061Z,1629055511.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:11.061Z,1629055511.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:11.072Z,1629055511.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:11.457Z,1629055511.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:11.877Z,1629055511.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00503,189,80,80,76,FF
2021-08-15T19:25:11.878Z,1629055511.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:11.881Z,1629055511.881 [Micromodem](INFO): Nmea in: $SNTTA,0.271407,0.271907,,,192512.24*59

2021-08-15T19:25:11.966Z,1629055511.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:25:12.335Z,1629055512.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 22.929104 deg, deltaT: 4.451851 s, approachRate: 0.080866 m/s, LOS rate: 12.539969 deg/s, posRepo size: 4
2021-08-15T19:25:14.722Z,1629055514.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:15.105Z,1629055515.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:15.105Z,1629055515.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:15.105Z,1629055515.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:15.106Z,1629055515.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:15.501Z,1629055515.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00503,189,80,80,76,FF
2021-08-15T19:25:15.501Z,1629055515.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:15.501Z,1629055515.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:15.503Z,1629055515.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:15.896Z,1629055515.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:16.302Z,1629055516.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,0050A,187,80,80,60,FF
2021-08-15T19:25:16.302Z,1629055516.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:16.372Z,1629055516.372 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:25:16.733Z,1629055516.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192516.67*57

2021-08-15T19:25:16.764Z,1629055516.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 306.893240 deg, deltaT: 4.405880 s, approachRate: 0.095327 m/s, LOS rate: -17.257817 deg/s, posRepo size: 4
2021-08-15T19:25:19.167Z,1629055519.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:19.533Z,1629055519.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:19.533Z,1629055519.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:19.533Z,1629055519.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:19.534Z,1629055519.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:19.945Z,1629055519.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,0050A,187,80,80,60,FF
2021-08-15T19:25:19.945Z,1629055519.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:19.946Z,1629055519.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:19.947Z,1629055519.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:20.438Z,1629055520.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:20.841Z,1629055520.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00511,186,80,80,66,FF
2021-08-15T19:25:20.842Z,1629055520.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:20.886Z,1629055520.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:25:21.257Z,1629055521.257 [Micromodem](INFO): Nmea in: $SNTTA,0.044121,,,,192521.11*4E

2021-08-15T19:25:21.320Z,1629055521.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 305.414750 deg, deltaT: 4.513570 s, approachRate: 0.093051 m/s, LOS rate: -0.327566 deg/s, posRepo size: 4
2021-08-15T19:25:21.685Z,1629055521.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:25:21.686Z,1629055521.686 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:25:21.687Z,1629055521.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:25:21.693Z,1629055521.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:25:21.693Z,1629055521.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:25:21.693Z,1629055521.693 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:25:22.127Z,1629055522.127 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:25:22.127Z,1629055522.127 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:25:22.127Z,1629055522.127 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:25:22.127Z,1629055522.127 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:25:23.683Z,1629055523.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:24.087Z,1629055524.087 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:24.087Z,1629055524.087 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:24.087Z,1629055524.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:24.088Z,1629055524.088 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:24.469Z,1629055524.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00511,186,80,80,66,FF
2021-08-15T19:25:24.469Z,1629055524.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:24.469Z,1629055524.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:24.471Z,1629055524.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:24.879Z,1629055524.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:25.277Z,1629055525.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,118,000,00520,186,80,80,65,FF
2021-08-15T19:25:25.277Z,1629055525.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:25.777Z,1629055525.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.220001 m, bearing: 301.442312 deg, deltaT: 4.471966 s, approachRate: 0.201255 m/s, LOS rate: -0.888298 deg/s, posRepo size: 4
2021-08-15T19:25:28.189Z,1629055528.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:28.505Z,1629055528.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:28.505Z,1629055528.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:28.505Z,1629055528.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:28.506Z,1629055528.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:28.913Z,1629055528.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
118,000,00520,186,80,80,65,FF
2021-08-15T19:25:28.913Z,1629055528.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:28.913Z,1629055528.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:28.915Z,1629055528.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:29.319Z,1629055529.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:29.729Z,1629055529.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19F,000,00521,186,80,80,77,FF
2021-08-15T19:25:29.730Z,1629055529.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:30.141Z,1629055530.141 [Micromodem](INFO): Nmea in: $SNTTA,0.043740,0.351234,,,192530.08*5C

2021-08-15T19:25:30.199Z,1629055530.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 293.664475 deg, deltaT: 4.484564 s, approachRate: 0.013379 m/s, LOS rate: -1.734357 deg/s, posRepo size: 4
2021-08-15T19:25:32.566Z,1629055532.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:32.957Z,1629055532.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:32.958Z,1629055532.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:32.958Z,1629055532.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:32.959Z,1629055532.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:33.361Z,1629055533.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19F,000,00521,186,80,80,77,FF
2021-08-15T19:25:33.361Z,1629055533.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:33.361Z,1629055533.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:33.363Z,1629055533.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:33.805Z,1629055533.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:34.161Z,1629055534.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,166,000,00524,186,80,80,7E,FF
2021-08-15T19:25:34.162Z,1629055534.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:34.629Z,1629055534.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192534.53*50

2021-08-15T19:25:34.656Z,1629055534.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 295.332763 deg, deltaT: 4.406831 s, approachRate: 0.040846 m/s, LOS rate: 0.378568 deg/s, posRepo size: 4
2021-08-15T19:25:37.085Z,1629055537.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:37.397Z,1629055537.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:37.397Z,1629055537.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:37.397Z,1629055537.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:37.398Z,1629055537.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:37.817Z,1629055537.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
166,000,00524,186,80,80,7E,FF
2021-08-15T19:25:37.817Z,1629055537.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:37.817Z,1629055537.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:37.819Z,1629055537.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:38.209Z,1629055538.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:38.625Z,1629055538.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C7,000,0052C,186,80,80,5A,FF
2021-08-15T19:25:38.625Z,1629055538.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:39.051Z,1629055539.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192538.99*5A

2021-08-15T19:25:39.104Z,1629055539.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.940002 m, bearing: 289.191603 deg, deltaT: 4.416969 s, approachRate: 0.108673 m/s, LOS rate: -1.390356 deg/s, posRepo size: 4
2021-08-15T19:25:41.481Z,1629055541.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:41.850Z,1629055541.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:41.850Z,1629055541.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:41.850Z,1629055541.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:41.851Z,1629055541.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:42.241Z,1629055542.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C7,000,0052C,186,80,80,5A,FF
2021-08-15T19:25:42.241Z,1629055542.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:42.241Z,1629055542.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:42.243Z,1629055542.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:42.667Z,1629055542.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:43.068Z,1629055543.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,0052F,185,80,80,84,FF
2021-08-15T19:25:43.069Z,1629055543.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:43.497Z,1629055543.497 [Micromodem](INFO): Nmea in: $SNTTA,0.066558,,,,192543.41*45

2021-08-15T19:25:43.519Z,1629055543.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.119999 m, bearing: 289.362467 deg, deltaT: 4.468787 s, approachRate: 0.040279 m/s, LOS rate: 0.038235 deg/s, posRepo size: 4
2021-08-15T19:25:45.950Z,1629055545.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:46.281Z,1629055546.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:46.281Z,1629055546.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:46.281Z,1629055546.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:46.282Z,1629055546.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:46.686Z,1629055546.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,0052F,185,80,80,84,FF
2021-08-15T19:25:46.686Z,1629055546.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:46.686Z,1629055546.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:46.689Z,1629055546.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:47.120Z,1629055547.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:47.522Z,1629055547.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00534,189,80,80,8D,FF
2021-08-15T19:25:47.523Z,1629055547.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:47.925Z,1629055547.925 [Micromodem](INFO): Nmea in: $SNTTA,0.043104,,,,192547.86*40

2021-08-15T19:25:47.980Z,1629055547.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.419998 m, bearing: 338.419645 deg, deltaT: 4.457516 s, approachRate: 0.067302 m/s, LOS rate: 11.005497 deg/s, posRepo size: 4
2021-08-15T19:25:50.365Z,1629055550.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:50.733Z,1629055550.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:50.733Z,1629055550.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:50.733Z,1629055550.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:50.734Z,1629055550.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:51.129Z,1629055551.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00534,189,80,80,8D,FF
2021-08-15T19:25:51.129Z,1629055551.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:51.129Z,1629055551.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:51.131Z,1629055551.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:51.537Z,1629055551.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:51.937Z,1629055551.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,00538,189,80,80,59,FF
2021-08-15T19:25:51.938Z,1629055551.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:52.392Z,1629055552.392 [Micromodem](INFO): Nmea in: $SNTTA,0.242640,,,,192552.30*4D

2021-08-15T19:25:52.485Z,1629055552.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 341.827991 deg, deltaT: 4.417834 s, approachRate: 0.054326 m/s, LOS rate: 0.771497 deg/s, posRepo size: 4
2021-08-15T19:25:54.798Z,1629055554.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:55.169Z,1629055555.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:55.169Z,1629055555.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:55.169Z,1629055555.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:55.170Z,1629055555.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:25:55.573Z,1629055555.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,00538,189,80,80,59,FF
2021-08-15T19:25:55.573Z,1629055555.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:25:55.573Z,1629055555.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:25:55.575Z,1629055555.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:25:55.981Z,1629055555.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:25:56.389Z,1629055556.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,0053C,189,80,80,6D,FF
2021-08-15T19:25:56.389Z,1629055556.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:25:56.816Z,1629055556.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.899998 m, bearing: 337.263950 deg, deltaT: 4.398047 s, approachRate: 0.054569 m/s, LOS rate: -1.037743 deg/s, posRepo size: 4
2021-08-15T19:25:59.249Z,1629055559.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:25:59.617Z,1629055559.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:25:59.617Z,1629055559.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:25:59.618Z,1629055559.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:25:59.619Z,1629055559.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:00.041Z,1629055560.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,0053C,189,80,80,6D,FF
2021-08-15T19:26:00.041Z,1629055560.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:00.042Z,1629055560.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:00.047Z,1629055560.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:00.464Z,1629055560.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:00.865Z,1629055560.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,00548,189,80,80,67,FF
2021-08-15T19:26:00.866Z,1629055560.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:01.310Z,1629055561.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192601.22*53

2021-08-15T19:26:01.391Z,1629055561.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 336.285812 deg, deltaT: 4.531034 s, approachRate: 0.158904 m/s, LOS rate: -0.215875 deg/s, posRepo size: 4
2021-08-15T19:26:03.803Z,1629055563.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:04.130Z,1629055564.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:04.130Z,1629055564.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:04.130Z,1629055564.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:04.131Z,1629055564.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:04.517Z,1629055564.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,00548,189,80,80,67,FF
2021-08-15T19:26:04.517Z,1629055564.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:04.517Z,1629055564.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:04.519Z,1629055564.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:04.925Z,1629055564.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:05.333Z,1629055565.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8C,000,00545,189,80,80,3C,FF
2021-08-15T19:26:05.334Z,1629055565.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:05.837Z,1629055565.837 [Micromodem](INFO): Nmea in: $SNTTA,0.053243,,,,192605.69*45

2021-08-15T19:26:05.902Z,1629055565.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 353.082722 deg, deltaT: 4.484237 s, approachRate: -0.040140 m/s, LOS rate: 3.745768 deg/s, posRepo size: 4
2021-08-15T19:26:08.212Z,1629055568.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:08.569Z,1629055568.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:08.569Z,1629055568.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:08.569Z,1629055568.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:08.570Z,1629055568.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:08.973Z,1629055568.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8C,000,00545,189,80,80,3C,FF
2021-08-15T19:26:08.974Z,1629055568.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:08.974Z,1629055568.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:08.975Z,1629055568.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:09.387Z,1629055569.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:09.839Z,1629055569.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,0054B,186,80,80,88,FF
2021-08-15T19:26:09.841Z,1629055569.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:09.844Z,1629055569.844 [Micromodem](INFO): Nmea in: $SNTTA,0.047922,0.316524,,,192610.15*5A

2021-08-15T19:26:10.250Z,1629055570.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 288.437605 deg, deltaT: 4.484958 s, approachRate: 0.080268 m/s, LOS rate: -14.413762 deg/s, posRepo size: 4
2021-08-15T19:26:12.649Z,1629055572.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:13.019Z,1629055573.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:13.019Z,1629055573.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:13.019Z,1629055573.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:13.036Z,1629055573.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:13.426Z,1629055573.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,0054B,186,80,80,88,FF
2021-08-15T19:26:13.426Z,1629055573.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:13.426Z,1629055573.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:13.427Z,1629055573.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:13.834Z,1629055573.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:14.231Z,1629055574.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,0054E,185,80,80,7C,FF
2021-08-15T19:26:14.231Z,1629055574.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:14.682Z,1629055574.682 [Micromodem](INFO): Nmea in: $SNTTA,0.057127,,,,192614.60*49

2021-08-15T19:26:14.703Z,1629055574.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 294.376099 deg, deltaT: 4.372784 s, approachRate: 0.041164 m/s, LOS rate: 1.358058 deg/s, posRepo size: 4
2021-08-15T19:26:17.111Z,1629055577.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:17.457Z,1629055577.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:17.457Z,1629055577.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:17.457Z,1629055577.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:17.458Z,1629055577.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:17.869Z,1629055577.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,0054E,185,80,80,7C,FF
2021-08-15T19:26:17.870Z,1629055577.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:17.870Z,1629055577.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:17.871Z,1629055577.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:18.265Z,1629055578.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:18.677Z,1629055578.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00556,18A,80,80,67,FF
2021-08-15T19:26:18.678Z,1629055578.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:19.126Z,1629055579.126 [Micromodem](INFO): Nmea in: $SNTTA,0.046918,,,,192619.04*42

2021-08-15T19:26:19.151Z,1629055579.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 17.008687 deg, deltaT: 4.440417 s, approachRate: 0.108098 m/s, LOS rate: 18.609192 deg/s, posRepo size: 4
2021-08-15T19:26:21.515Z,1629055581.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:21.901Z,1629055581.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:21.901Z,1629055581.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:21.901Z,1629055581.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:21.902Z,1629055581.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:22.315Z,1629055582.315 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00556,18A,80,80,67,FF
2021-08-15T19:26:22.315Z,1629055582.315 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:22.315Z,1629055582.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:22.319Z,1629055582.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:22.732Z,1629055582.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:23.130Z,1629055583.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,0055C,185,80,80,74,FF
2021-08-15T19:26:23.130Z,1629055583.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:23.563Z,1629055583.563 [Micromodem](INFO): Nmea in: $SNTTA,0.084295,,,,192623.49*42

2021-08-15T19:26:23.597Z,1629055583.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 325.839529 deg, deltaT: 4.457362 s, approachRate: 0.080765 m/s, LOS rate: -11.479699 deg/s, posRepo size: 4
2021-08-15T19:26:26.007Z,1629055586.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:26.353Z,1629055586.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:26.354Z,1629055586.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:26.354Z,1629055586.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:26.355Z,1629055586.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:26.757Z,1629055586.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,0055C,185,80,80,74,FF
2021-08-15T19:26:26.757Z,1629055586.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:26.757Z,1629055586.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:26.759Z,1629055586.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:27.164Z,1629055587.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:27.569Z,1629055587.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,00569,187,80,80,68,FF
2021-08-15T19:26:27.570Z,1629055587.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:28.018Z,1629055588.018 [Micromodem](INFO): Nmea in: $SNTTA,,0.427744,,,192627.93*45

2021-08-15T19:26:28.086Z,1629055588.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 341.652974 deg, deltaT: 4.593531 s, approachRate: 0.169804 m/s, LOS rate: 3.442547 deg/s, posRepo size: 4
2021-08-15T19:26:30.431Z,1629055590.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:30.797Z,1629055590.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:30.797Z,1629055590.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:30.797Z,1629055590.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:30.798Z,1629055590.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:31.201Z,1629055591.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,00569,187,80,80,68,FF
2021-08-15T19:26:31.201Z,1629055591.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:31.201Z,1629055591.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:31.203Z,1629055591.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:31.609Z,1629055591.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:32.018Z,1629055592.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,0056D,186,80,80,67,FF
2021-08-15T19:26:32.018Z,1629055592.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:32.449Z,1629055592.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192632.37*57

2021-08-15T19:26:32.531Z,1629055592.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 341.650024 deg, deltaT: 4.373973 s, approachRate: 0.054870 m/s, LOS rate: -0.000675 deg/s, posRepo size: 4
2021-08-15T19:26:34.882Z,1629055594.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:35.253Z,1629055595.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:35.253Z,1629055595.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:35.253Z,1629055595.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:35.254Z,1629055595.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:35.645Z,1629055595.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,0056D,186,80,80,67,FF
2021-08-15T19:26:35.645Z,1629055595.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:35.645Z,1629055595.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:35.647Z,1629055595.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:36.074Z,1629055596.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:36.453Z,1629055596.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,0056F,187,80,80,A7,FF
2021-08-15T19:26:36.454Z,1629055596.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:36.909Z,1629055596.909 [Micromodem](INFO): Nmea in: $SNTTA,0.037029,,,,192636.82*4C

2021-08-15T19:26:36.957Z,1629055596.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 342.755121 deg, deltaT: 4.357445 s, approachRate: 0.027539 m/s, LOS rate: 0.253611 deg/s, posRepo size: 4
2021-08-15T19:26:39.347Z,1629055599.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:39.691Z,1629055599.691 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:39.691Z,1629055599.691 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:39.691Z,1629055599.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:39.692Z,1629055599.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:40.127Z,1629055600.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,0056F,187,80,80,A7,FF
2021-08-15T19:26:40.127Z,1629055600.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:40.127Z,1629055600.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:40.129Z,1629055600.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:40.505Z,1629055600.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:40.905Z,1629055600.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00577,186,80,80,92,FF
2021-08-15T19:26:40.905Z,1629055600.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:41.335Z,1629055601.335 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192641.30*54

2021-08-15T19:26:41.362Z,1629055601.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 344.691917 deg, deltaT: 4.447779 s, approachRate: 0.107919 m/s, LOS rate: 0.435452 deg/s, posRepo size: 4
2021-08-15T19:26:43.819Z,1629055603.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:44.140Z,1629055604.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:44.140Z,1629055604.140 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:44.141Z,1629055604.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:44.142Z,1629055604.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:44.537Z,1629055604.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00577,186,80,80,92,FF
2021-08-15T19:26:44.537Z,1629055604.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:44.538Z,1629055604.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:44.539Z,1629055604.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:44.945Z,1629055604.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:45.354Z,1629055605.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,0057E,186,80,80,B9,FF
2021-08-15T19:26:45.354Z,1629055605.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:45.819Z,1629055605.819 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192645.71*55

2021-08-15T19:26:45.860Z,1629055605.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 345.214317 deg, deltaT: 4.434285 s, approachRate: 0.094717 m/s, LOS rate: 0.117809 deg/s, posRepo size: 4
2021-08-15T19:26:47.838Z,1629055607.838 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:26:48.202Z,1629055608.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:48.594Z,1629055608.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:48.594Z,1629055608.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:48.595Z,1629055608.595 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:48.596Z,1629055608.596 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:48.985Z,1629055608.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,0057E,186,80,80,B9,FF
2021-08-15T19:26:48.985Z,1629055608.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:48.985Z,1629055608.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:48.987Z,1629055608.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:49.399Z,1629055609.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:49.814Z,1629055609.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00584,186,80,80,B3,FF
2021-08-15T19:26:49.814Z,1629055609.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:49.818Z,1629055609.818 [Micromodem](INFO): Nmea in: $SNTTA,0.272897,0.272522,,,192650.16*53

2021-08-15T19:26:49.858Z,1629055609.858 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:26:50.264Z,1629055610.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 346.477820 deg, deltaT: 4.507755 s, approachRate: 0.079862 m/s, LOS rate: 0.280295 deg/s, posRepo size: 4
2021-08-15T19:26:52.680Z,1629055612.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:53.025Z,1629055613.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:53.025Z,1629055613.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:53.025Z,1629055613.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:53.026Z,1629055613.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:53.435Z,1629055613.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00584,186,80,80,B3,FF
2021-08-15T19:26:53.436Z,1629055613.436 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:53.436Z,1629055613.436 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:53.438Z,1629055613.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:53.832Z,1629055613.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:54.230Z,1629055614.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4A,000,00586,186,80,80,A2,FF
2021-08-15T19:26:54.230Z,1629055614.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:54.665Z,1629055614.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192654.61*54

2021-08-15T19:26:54.695Z,1629055614.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 343.419207 deg, deltaT: 4.422638 s, approachRate: 0.027133 m/s, LOS rate: -0.691581 deg/s, posRepo size: 4
2021-08-15T19:26:57.109Z,1629055617.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:26:57.465Z,1629055617.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:26:57.465Z,1629055617.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:26:57.465Z,1629055617.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:26:57.466Z,1629055617.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:26:57.865Z,1629055617.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4A,000,00586,186,80,80,A2,FF
2021-08-15T19:26:57.865Z,1629055617.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:26:57.865Z,1629055617.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:26:57.867Z,1629055617.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:26:58.298Z,1629055618.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:26:58.685Z,1629055618.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,00588,185,80,80,AB,FF
2021-08-15T19:26:58.685Z,1629055618.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:26:59.129Z,1629055619.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192659.04*5A

2021-08-15T19:26:59.185Z,1629055619.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 342.288483 deg, deltaT: 4.388392 s, approachRate: 0.027345 m/s, LOS rate: -0.257663 deg/s, posRepo size: 4
2021-08-15T19:27:01.530Z,1629055621.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:01.917Z,1629055621.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:01.917Z,1629055621.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:01.917Z,1629055621.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:01.918Z,1629055621.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:02.332Z,1629055622.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,00588,185,80,80,AB,FF
2021-08-15T19:27:02.332Z,1629055622.332 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:02.332Z,1629055622.332 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:02.334Z,1629055622.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:02.732Z,1629055622.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:03.129Z,1629055623.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00594,186,80,80,C3,FF
2021-08-15T19:27:03.130Z,1629055623.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:03.561Z,1629055623.561 [Micromodem](INFO): Nmea in: $SNTTA,0.062597,,,,192703.50*44

2021-08-15T19:27:03.583Z,1629055623.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 342.888146 deg, deltaT: 4.453287 s, approachRate: 0.161678 m/s, LOS rate: 0.134656 deg/s, posRepo size: 4
2021-08-15T19:27:06.003Z,1629055626.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:06.369Z,1629055626.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:06.369Z,1629055626.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:06.369Z,1629055626.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:06.370Z,1629055626.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:06.765Z,1629055626.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00594,186,80,80,C3,FF
2021-08-15T19:27:06.765Z,1629055626.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:06.765Z,1629055626.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:06.767Z,1629055626.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:07.172Z,1629055627.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:07.585Z,1629055627.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,0059B,187,80,80,B4,FF
2021-08-15T19:27:07.586Z,1629055627.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:08.036Z,1629055628.036 [Micromodem](INFO): Nmea in: $SNTTA,,0.384581,,,192707.94*44

2021-08-15T19:27:08.147Z,1629055628.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 342.651548 deg, deltaT: 4.451505 s, approachRate: 0.094350 m/s, LOS rate: -0.053150 deg/s, posRepo size: 4
2021-08-15T19:27:10.118Z,1629055630.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:10.409Z,1629055630.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:10.409Z,1629055630.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:10.409Z,1629055630.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:10.410Z,1629055630.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:10.809Z,1629055630.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,0059B,187,80,80,B4,FF
2021-08-15T19:27:10.809Z,1629055630.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:10.809Z,1629055630.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:10.811Z,1629055630.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:11.216Z,1629055631.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:11.617Z,1629055631.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,005A6,186,80,80,6A,FF
2021-08-15T19:27:11.618Z,1629055631.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:12.078Z,1629055632.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192711.98*52

2021-08-15T19:27:12.168Z,1629055632.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 341.817637 deg, deltaT: 4.026501 s, approachRate: 0.163915 m/s, LOS rate: -0.207106 deg/s, posRepo size: 4
2021-08-15T19:27:14.146Z,1629055634.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:14.449Z,1629055634.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:14.449Z,1629055634.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:14.450Z,1629055634.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:14.451Z,1629055634.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:14.849Z,1629055634.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,005A6,186,80,80,6A,FF
2021-08-15T19:27:14.849Z,1629055634.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:14.849Z,1629055634.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:14.851Z,1629055634.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:15.261Z,1629055635.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:15.657Z,1629055635.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,005A6,186,80,80,95,FF
2021-08-15T19:27:15.658Z,1629055635.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:16.117Z,1629055636.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192716.02*56

2021-08-15T19:27:16.176Z,1629055636.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 343.279789 deg, deltaT: 4.045842 s, approachRate: 0.000000 m/s, LOS rate: 0.361396 deg/s, posRepo size: 4
2021-08-15T19:27:18.203Z,1629055638.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:18.497Z,1629055638.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:18.497Z,1629055638.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:18.497Z,1629055638.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:18.498Z,1629055638.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:18.897Z,1629055638.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,005A6,186,80,80,95,FF
2021-08-15T19:27:18.897Z,1629055638.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:18.898Z,1629055638.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:18.899Z,1629055638.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:19.302Z,1629055639.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:19.697Z,1629055639.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,005A6,186,80,80,54,FF
2021-08-15T19:27:19.698Z,1629055639.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:20.154Z,1629055640.154 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192720.07*56

2021-08-15T19:27:20.222Z,1629055640.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 342.793343 deg, deltaT: 4.101469 s, approachRate: 0.000000 m/s, LOS rate: -0.118603 deg/s, posRepo size: 4
2021-08-15T19:27:22.581Z,1629055642.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:22.933Z,1629055642.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:22.933Z,1629055642.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:22.933Z,1629055642.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:22.934Z,1629055642.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:23.341Z,1629055643.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,005A6,186,80,80,54,FF
2021-08-15T19:27:23.342Z,1629055643.342 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:23.342Z,1629055643.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:23.343Z,1629055643.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:23.826Z,1629055643.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:24.237Z,1629055644.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,005A9,187,80,80,94,FF
2021-08-15T19:27:24.238Z,1629055644.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:24.665Z,1629055644.665 [Micromodem](INFO): Nmea in: $SNTTA,0.051907,,,,192724.51*45

2021-08-15T19:27:24.688Z,1629055644.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.439995 m, bearing: 342.254960 deg, deltaT: 4.483534 s, approachRate: 0.040146 m/s, LOS rate: -0.120080 deg/s, posRepo size: 4
2021-08-15T19:27:27.133Z,1629055647.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:27.466Z,1629055647.466 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:27.466Z,1629055647.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:27.466Z,1629055647.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:27.467Z,1629055647.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:27.885Z,1629055647.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,005A9,187,80,80,94,FF
2021-08-15T19:27:27.885Z,1629055647.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:27.885Z,1629055647.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:27.887Z,1629055647.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:28.281Z,1629055648.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:28.689Z,1629055648.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,005AD,186,80,80,A1,FF
2021-08-15T19:27:28.689Z,1629055648.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:29.141Z,1629055649.141 [Micromodem](INFO): Nmea in: $SNTTA,0.067781,,,,192729.06*4F

2021-08-15T19:27:29.187Z,1629055649.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 344.807292 deg, deltaT: 4.467340 s, approachRate: 0.053724 m/s, LOS rate: 0.571332 deg/s, posRepo size: 4
2021-08-15T19:27:31.545Z,1629055651.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:31.910Z,1629055651.910 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:31.910Z,1629055651.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:31.910Z,1629055651.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:31.911Z,1629055651.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:32.326Z,1629055652.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,005AD,186,80,80,A1,FF
2021-08-15T19:27:32.326Z,1629055652.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:32.326Z,1629055652.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:32.328Z,1629055652.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:32.724Z,1629055652.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:33.130Z,1629055653.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D82,000,005B5,189,80,80,84,FF
2021-08-15T19:27:33.130Z,1629055653.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:33.565Z,1629055653.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192733.50*56

2021-08-15T19:27:33.587Z,1629055653.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 354.746119 deg, deltaT: 4.424492 s, approachRate: 0.108489 m/s, LOS rate: 2.246321 deg/s, posRepo size: 4
2021-08-15T19:27:36.019Z,1629055656.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:36.377Z,1629055656.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:36.377Z,1629055656.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:36.377Z,1629055656.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:36.378Z,1629055656.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:36.769Z,1629055656.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D82,000,005B5,189,80,80,84,FF
2021-08-15T19:27:36.769Z,1629055656.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:36.769Z,1629055656.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:36.771Z,1629055656.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:37.166Z,1629055657.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:37.581Z,1629055657.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,005BB,185,80,80,6A,FF
2021-08-15T19:27:37.581Z,1629055657.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:38.016Z,1629055658.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192737.94*5A

2021-08-15T19:27:38.115Z,1629055658.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.520000 m, bearing: 349.143698 deg, deltaT: 4.461512 s, approachRate: 0.080689 m/s, LOS rate: -1.255723 deg/s, posRepo size: 4
2021-08-15T19:27:40.422Z,1629055660.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:40.806Z,1629055660.806 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:40.806Z,1629055660.806 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:40.806Z,1629055660.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:40.807Z,1629055660.807 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:41.202Z,1629055661.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,005BB,185,80,80,6A,FF
2021-08-15T19:27:41.202Z,1629055661.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:41.202Z,1629055661.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:41.204Z,1629055661.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:41.609Z,1629055661.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:42.010Z,1629055662.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,005C2,189,80,80,8A,FF
2021-08-15T19:27:42.012Z,1629055662.012 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:42.477Z,1629055662.477 [Micromodem](INFO): Nmea in: $SNTTA,0.064078,,,,192742.38*4D

2021-08-15T19:27:42.499Z,1629055662.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 359.715273 deg, deltaT: 4.515432 s, approachRate: 0.093014 m/s, LOS rate: 2.341210 deg/s, posRepo size: 4
2021-08-15T19:27:44.883Z,1629055664.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:45.244Z,1629055665.244 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:45.244Z,1629055665.244 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:45.244Z,1629055665.244 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:45.245Z,1629055665.245 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:45.652Z,1629055665.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,005C2,189,80,80,8A,FF
2021-08-15T19:27:45.653Z,1629055665.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:45.653Z,1629055665.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:45.654Z,1629055665.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:46.080Z,1629055666.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:27:46.457Z,1629055666.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,005C6,188,80,80,86,FF
2021-08-15T19:27:46.458Z,1629055666.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:27:46.892Z,1629055666.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 303.481260 deg, deltaT: 4.344017 s, approachRate: 0.055249 m/s, LOS rate: -12.945164 deg/s, posRepo size: 4
2021-08-15T19:27:49.345Z,1629055669.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:49.689Z,1629055669.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:49.689Z,1629055669.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:49.690Z,1629055669.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:49.690Z,1629055669.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:50.125Z,1629055670.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,005C6,188,80,80,86,FF
2021-08-15T19:27:50.125Z,1629055670.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:50.126Z,1629055670.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:50.127Z,1629055670.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:27:52.200Z,1629055672.200 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:52.921Z,1629055672.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:27:52.922Z,1629055672.922 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:27:52.922Z,1629055672.922 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:27:54.962Z,1629055674.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:55.353Z,1629055675.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:27:55.354Z,1629055675.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:27:55.354Z,1629055675.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:27:55.355Z,1629055675.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:27:55.797Z,1629055675.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:27:55.797Z,1629055675.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:27:55.797Z,1629055675.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:27:57.859Z,1629055677.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:27:58.582Z,1629055678.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:27:58.582Z,1629055678.582 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:27:58.582Z,1629055678.582 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:00.614Z,1629055680.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:01.011Z,1629055681.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:01.043Z,1629055681.043 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:01.043Z,1629055681.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:01.045Z,1629055681.045 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:01.398Z,1629055681.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:01.398Z,1629055681.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:01.398Z,1629055681.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:01.399Z,1629055681.399 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:03.487Z,1629055683.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:04.239Z,1629055684.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:04.239Z,1629055684.239 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:04.239Z,1629055684.239 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:06.278Z,1629055686.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:06.669Z,1629055686.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:06.670Z,1629055686.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:06.670Z,1629055686.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:06.671Z,1629055686.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:07.069Z,1629055687.069 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:07.069Z,1629055687.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:07.069Z,1629055687.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:09.190Z,1629055689.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:09.887Z,1629055689.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:09.887Z,1629055689.887 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:09.887Z,1629055689.887 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:11.959Z,1629055691.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:12.318Z,1629055692.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:12.318Z,1629055692.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:12.318Z,1629055692.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:12.319Z,1629055692.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:12.715Z,1629055692.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:12.715Z,1629055692.715 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:12.715Z,1629055692.715 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:12.716Z,1629055692.716 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:13.119Z,1629055693.119 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T19:28:13.119Z,1629055693.119 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T19:28:13.119Z,1629055693.119 [Micromodem](ERROR): Hardware Fault
2021-08-15T19:28:13.147Z,1629055693.147 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T19:28:13.147Z,1629055693.147 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T19:28:13.147Z,1629055693.147 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T19:28:13.147Z,1629055693.147 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:28:13.147Z,1629055693.147 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T19:28:13.276Z,1629055693.276 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T19:28:13.558Z,1629055693.558 [Micromodem](INFO): Powering down
2021-08-15T19:28:14.524Z,1629055694.524 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T19:28:14.524Z,1629055694.524 [Micromodem] No Fault, FailCount= 1
2021-08-15T19:28:14.825Z,1629055694.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:15.573Z,1629055695.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:15.574Z,1629055695.574 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:15.574Z,1629055695.574 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:17.194Z,1629055697.194 [Micromodem](INFO): Powering up
2021-08-15T19:28:17.194Z,1629055697.194 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T19:28:17.641Z,1629055697.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:17.993Z,1629055697.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:17.993Z,1629055697.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:17.993Z,1629055697.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:17.994Z,1629055697.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:18.405Z,1629055698.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:18.405Z,1629055698.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:18.405Z,1629055698.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:20.503Z,1629055700.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:21.295Z,1629055701.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:21.312Z,1629055701.312 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:21.312Z,1629055701.312 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:23.346Z,1629055703.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:23.701Z,1629055703.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:23.701Z,1629055703.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:23.701Z,1629055703.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:23.702Z,1629055703.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:24.113Z,1629055704.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,86,FF
2021-08-15T19:28:24.113Z,1629055704.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:24.113Z,1629055704.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:24.115Z,1629055704.115 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:28:23.291623Z,RTC,RTC*53

2021-08-15T19:28:24.116Z,1629055704.116 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T19:28:23.291623Z,RTC,RTC*53

2021-08-15T19:28:24.116Z,1629055704.116 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:24.123Z,1629055704.123 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T19:28:24.124Z,1629055704.124 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T19:28:24.124Z,1629055704.124 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T19:28:24.348Z,1629055704.348 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T19:28:24.521Z,1629055704.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:24.532Z,1629055704.532 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T19:28:24.612Z,1629055704.612 [RDI_Pathfinder](INFO): Powering down
2021-08-15T19:28:24.913Z,1629055704.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00600,189,80,80,43,FF
2021-08-15T19:28:24.914Z,1629055704.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:28:24.916Z,1629055704.916 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T19:28:24.916Z,1629055704.916 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T19:28:25.357Z,1629055705.357 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T19:28:25.358Z,1629055705.358 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T19:28:25.439Z,1629055705.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 43.156345 deg, deltaT: 38.505649 s, approachRate: 0.090376 m/s, LOS rate: 2.588584 deg/s, posRepo size: 4
2021-08-15T19:28:25.600Z,1629055705.600 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T19:28:25.600Z,1629055705.600 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T19:28:25.733Z,1629055705.733 [Micromodem](INFO): Nmea in: $SNTTA,0.084156,,,,192825.29*40

2021-08-15T19:28:25.734Z,1629055705.734 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.084156,,,,192825.29*40

2021-08-15T19:28:27.068Z,1629055707.068 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T19:28:27.068Z,1629055707.068 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T19:28:27.430Z,1629055707.430 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T19:28:27.430Z,1629055707.430 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T19:28:27.487Z,1629055707.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:27.841Z,1629055707.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:27.842Z,1629055707.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:27.842Z,1629055707.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:27.843Z,1629055707.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:27.890Z,1629055707.890 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T19:28:27.890Z,1629055707.890 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T19:28:28.241Z,1629055708.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00600,189,80,80,43,FF
2021-08-15T19:28:28.241Z,1629055708.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:28.242Z,1629055708.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:28.243Z,1629055708.243 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T19:28:28.243Z,1629055708.243 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T19:28:28.738Z,1629055708.738 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T19:28:28.738Z,1629055708.738 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T19:28:29.134Z,1629055709.134 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T19:28:29.135Z,1629055709.135 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,19,28,30*48

2021-08-15T19:28:29.543Z,1629055709.543 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,19,28,30*7A

2021-08-15T19:28:29.750Z,1629055709.750 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 395A1961120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-15T19:28:29.751Z,1629055709.751 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-15T19:28:29.751Z,1629055709.751 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F9112CBC04F706D602F57A9C67E570C2112FC238481E5BFFF12CBF4B462E237EE40E08D3F7800
2021-08-15T19:28:29.751Z,1629055709.751 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T19:28:29.841Z,1629055709.841 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T19:28:29.842Z,1629055709.842 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T19:28:29.842Z,1629055709.842 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T19:28:29.842Z,1629055709.842 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:28:29.842Z,1629055709.842 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T19:28:30.044Z,1629055710.044 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T19:28:30.049Z,1629055710.049 [Micromodem](INFO): Nmea in: $CADRQ,192830,1,10,0,64,1*77

2021-08-15T19:28:30.051Z,1629055710.051 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961120000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*36

2021-08-15T19:28:30.193Z,1629055710.193 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:30.431Z,1629055710.431 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T19:28:31Z*7B

2021-08-15T19:28:30.431Z,1629055710.431 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2021-08-15T19:28:31Z*7B

2021-08-15T19:28:30.433Z,1629055710.433 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:28:31.026149Z,USER_CMD,RTC*14

2021-08-15T19:28:30.433Z,1629055710.433 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2021-08-15T19:28:31.026149Z,USER_CMD,RTC*14

2021-08-15T19:28:30.830Z,1629055710.830 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T19:28:30.832Z,1629055710.832 [Micromodem](INFO): Nmea in: $CADRQ,192831,1,10,0,64,2*75

2021-08-15T19:28:30.832Z,1629055710.832 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-15T19:28:31.232Z,1629055711.232 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T19:28:31.233Z,1629055711.233 [Micromodem](INFO): Nmea in: $CADRQ,192831,1,10,0,64,3*74

2021-08-15T19:28:31.233Z,1629055711.233 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F9112CBC04F706D602F57A9C67E570C2112FC238481E5BFFF12CBF4B462E237EE40E08D3F7800*43

2021-08-15T19:28:31.638Z,1629055711.638 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T19:28:31.639Z,1629055711.639 [Micromodem](INFO): Nmea in: $CATXP,188*43

2021-08-15T19:28:33.125Z,1629055713.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:34.132Z,1629055714.132 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.289073
2021-08-15T19:28:35.726Z,1629055715.726 [Micromodem](INFO): Nmea in: $CATXF,188*55

2021-08-15T19:28:35.729Z,1629055715.729 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,192832.449123,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*68

2021-08-15T19:28:35.747Z,1629055715.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:36.129Z,1629055716.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:36.129Z,1629055716.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:36.129Z,1629055716.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:36.130Z,1629055716.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:36.542Z,1629055716.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00600,189,80,80,43,FF
2021-08-15T19:28:36.542Z,1629055716.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:36.542Z,1629055716.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:36.543Z,1629055716.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:36.948Z,1629055716.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:37.770Z,1629055717.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192837.71*5E

2021-08-15T19:28:38.589Z,1629055718.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:39.002Z,1629055719.002 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T19:28:39.004Z,1629055719.004 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T19:28:39.378Z,1629055719.378 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-15T19:28:39.381Z,1629055719.381 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815192839.059452,06,32767,45,0107,0150,07,00,00,00,000*45

2021-08-15T19:28:39.382Z,1629055719.382 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACST,6,0,20210815192839.059452,06,32767,45,0107,0150,07,00,00,00,000*45
 expected 4D
2021-08-15T19:28:40.169Z,1629055720.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,43,FF
2021-08-15T19:28:40.169Z,1629055720.169 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,43,FF
2021-08-15T19:28:40.170Z,1629055720.170 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:28:41.425Z,1629055721.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:41.785Z,1629055721.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:41.785Z,1629055721.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:41.785Z,1629055721.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:41.786Z,1629055721.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:42.189Z,1629055722.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,43,FF
2021-08-15T19:28:42.189Z,1629055722.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:42.190Z,1629055722.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:42.191Z,1629055722.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:42.635Z,1629055722.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:43.025Z,1629055723.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0061E,18A,80,80,AB,FF
2021-08-15T19:28:43.025Z,1629055723.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:28:43.454Z,1629055723.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192843.36*5E

2021-08-15T19:28:43.475Z,1629055723.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 48.077596 deg, deltaT: 18.132592 s, approachRate: 0.099269 m/s, LOS rate: 0.271404 deg/s, posRepo size: 4
2021-08-15T19:28:46.803Z,1629055726.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:47.169Z,1629055727.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:47.170Z,1629055727.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:47.170Z,1629055727.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:47.171Z,1629055727.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:47.421Z,1629055727.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0061E,18A,80,80,AB,FF
2021-08-15T19:28:47.421Z,1629055727.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:47.422Z,1629055727.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:47.423Z,1629055727.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:47.837Z,1629055727.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:48.213Z,1629055728.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00623,188,80,80,AE,FF
2021-08-15T19:28:48.214Z,1629055728.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:28:48.630Z,1629055728.630 [Micromodem](INFO): Nmea in: $SNTTA,,0.136768,,,192848.60*45

2021-08-15T19:28:48.646Z,1629055728.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 49.488948 deg, deltaT: 5.154105 s, approachRate: 0.058207 m/s, LOS rate: 0.273831 deg/s, posRepo size: 4
2021-08-15T19:28:51.106Z,1629055731.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:51.449Z,1629055731.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:51.449Z,1629055731.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:51.450Z,1629055731.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:51.450Z,1629055731.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:51.885Z,1629055731.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00623,188,80,80,AE,FF
2021-08-15T19:28:51.885Z,1629055731.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:51.885Z,1629055731.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:51.887Z,1629055731.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:52.274Z,1629055732.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:52.682Z,1629055732.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0062A,189,80,80,6B,FF
2021-08-15T19:28:52.683Z,1629055732.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:28:53.083Z,1629055733.083 [Micromodem](INFO): Nmea in: $SNTTA,0.056562,,,,192853.06*40

2021-08-15T19:28:53.126Z,1629055733.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 50.689477 deg, deltaT: 4.429219 s, approachRate: 0.094825 m/s, LOS rate: 0.271047 deg/s, posRepo size: 4
2021-08-15T19:28:55.534Z,1629055735.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:28:55.901Z,1629055735.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:28:55.901Z,1629055735.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:28:55.901Z,1629055735.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:28:55.902Z,1629055735.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:28:56.298Z,1629055736.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0062A,189,80,80,6B,FF
2021-08-15T19:28:56.298Z,1629055736.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:28:56.299Z,1629055736.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:28:56.301Z,1629055736.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:28:56.692Z,1629055736.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:28:57.114Z,1629055737.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00630,189,80,80,6C,FF
2021-08-15T19:28:57.114Z,1629055737.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:28:57.537Z,1629055737.537 [Micromodem](INFO): Nmea in: $SNTTA,0.053860,,,,192857.47*4B

2021-08-15T19:28:57.572Z,1629055737.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 51.691773 deg, deltaT: 4.500690 s, approachRate: 0.079987 m/s, LOS rate: 0.222698 deg/s, posRepo size: 4
2021-08-15T19:28:59.982Z,1629055739.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:00.332Z,1629055740.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:00.332Z,1629055740.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:00.333Z,1629055740.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:00.334Z,1629055740.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:00.726Z,1629055740.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00630,189,80,80,6C,FF
2021-08-15T19:29:00.726Z,1629055740.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:00.726Z,1629055740.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:00.727Z,1629055740.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:01.137Z,1629055741.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:01.537Z,1629055741.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00635,18A,80,80,79,FF
2021-08-15T19:29:01.538Z,1629055741.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:01.977Z,1629055741.977 [Micromodem](INFO): Nmea in: $SNTTA,0.487758,,,,192901.90*4A

2021-08-15T19:29:02.077Z,1629055742.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 52.662582 deg, deltaT: 4.359715 s, approachRate: 0.068813 m/s, LOS rate: 0.222677 deg/s, posRepo size: 4
2021-08-15T19:29:03.577Z,1629055743.577 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T19:29:04.427Z,1629055744.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:04.769Z,1629055744.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:04.769Z,1629055744.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:04.769Z,1629055744.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:04.770Z,1629055744.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:05.177Z,1629055745.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00635,18A,80,80,79,FF
2021-08-15T19:29:05.178Z,1629055745.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:05.178Z,1629055745.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:05.180Z,1629055745.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:05.588Z,1629055745.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:05.989Z,1629055745.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00637,189,80,80,B2,FF
2021-08-15T19:29:05.990Z,1629055745.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:05.993Z,1629055745.993 [Micromodem](INFO): Nmea in: $SNTTA,0.076693,0.260010,,,192906.35*55

2021-08-15T19:29:06.428Z,1629055746.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.959999 m, bearing: 54.039951 deg, deltaT: 4.578606 s, approachRate: 0.026208 m/s, LOS rate: 0.300827 deg/s, posRepo size: 4
2021-08-15T19:29:08.829Z,1629055748.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:09.213Z,1629055749.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:09.213Z,1629055749.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:09.213Z,1629055749.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:09.214Z,1629055749.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:09.626Z,1629055749.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00637,189,80,80,B2,FF
2021-08-15T19:29:09.626Z,1629055749.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:09.626Z,1629055749.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:09.628Z,1629055749.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:10.031Z,1629055750.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:10.425Z,1629055750.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00640,189,80,80,C0,FF
2021-08-15T19:29:10.426Z,1629055750.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:10.866Z,1629055750.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192910.80*54

2021-08-15T19:29:10.887Z,1629055750.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 54.380839 deg, deltaT: 4.336668 s, approachRate: 0.124522 m/s, LOS rate: 0.078606 deg/s, posRepo size: 4
2021-08-15T19:29:13.294Z,1629055753.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:13.657Z,1629055753.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:13.657Z,1629055753.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:13.657Z,1629055753.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:13.658Z,1629055753.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:14.077Z,1629055754.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00640,189,80,80,C0,FF
2021-08-15T19:29:14.077Z,1629055754.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:14.077Z,1629055754.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:14.079Z,1629055754.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:14.473Z,1629055754.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:14.873Z,1629055754.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00647,189,80,80,83,FF
2021-08-15T19:29:14.874Z,1629055754.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:15.306Z,1629055755.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192915.25*5E

2021-08-15T19:29:15.350Z,1629055755.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 54.927019 deg, deltaT: 4.415560 s, approachRate: 0.095118 m/s, LOS rate: 0.123694 deg/s, posRepo size: 4
2021-08-15T19:29:17.731Z,1629055757.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:18.121Z,1629055758.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:18.121Z,1629055758.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:18.121Z,1629055758.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:18.122Z,1629055758.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:18.505Z,1629055758.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00647,189,80,80,83,FF
2021-08-15T19:29:18.505Z,1629055758.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:18.505Z,1629055758.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:18.507Z,1629055758.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:18.913Z,1629055758.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:19.318Z,1629055759.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0064F,189,80,80,A7,FF
2021-08-15T19:29:19.318Z,1629055759.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:19.762Z,1629055759.762 [Micromodem](INFO): Nmea in: $SNTTA,0.054874,,,,192919.68*4F

2021-08-15T19:29:19.788Z,1629055759.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 55.583079 deg, deltaT: 4.484541 s, approachRate: 0.107033 m/s, LOS rate: 0.146294 deg/s, posRepo size: 4
2021-08-15T19:29:22.199Z,1629055762.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:22.549Z,1629055762.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:22.549Z,1629055762.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:22.549Z,1629055762.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:22.550Z,1629055762.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:22.955Z,1629055762.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0064F,189,80,80,A7,FF
2021-08-15T19:29:22.955Z,1629055762.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:22.955Z,1629055762.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:22.957Z,1629055762.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:23.361Z,1629055763.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:23.757Z,1629055763.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00654,18A,80,80,8E,FF
2021-08-15T19:29:23.758Z,1629055763.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:24.177Z,1629055764.177 [Micromodem](INFO): Nmea in: $SNTTA,0.063191,0.370741,,,192924.13*53

2021-08-15T19:29:24.236Z,1629055764.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 56.319243 deg, deltaT: 4.479124 s, approachRate: 0.066978 m/s, LOS rate: 0.164355 deg/s, posRepo size: 4
2021-08-15T19:29:26.610Z,1629055766.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:26.989Z,1629055766.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:26.989Z,1629055766.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:26.989Z,1629055766.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:26.990Z,1629055766.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:27.401Z,1629055767.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00654,18A,80,80,8E,FF
2021-08-15T19:29:27.401Z,1629055767.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:27.402Z,1629055767.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:27.403Z,1629055767.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:27.849Z,1629055767.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:28.201Z,1629055768.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0065C,189,80,80,9B,FF
2021-08-15T19:29:28.202Z,1629055768.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:28.645Z,1629055768.645 [Micromodem](INFO): Nmea in: $SNTTA,0.074309,,,,192928.57*42

2021-08-15T19:29:28.677Z,1629055768.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 57.284711 deg, deltaT: 4.373740 s, approachRate: 0.109744 m/s, LOS rate: 0.220742 deg/s, posRepo size: 4
2021-08-15T19:29:31.091Z,1629055771.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:31.437Z,1629055771.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:31.437Z,1629055771.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:31.438Z,1629055771.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:31.438Z,1629055771.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:31.881Z,1629055771.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0065C,189,80,80,9B,FF
2021-08-15T19:29:31.881Z,1629055771.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:31.881Z,1629055771.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:31.883Z,1629055771.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:32.248Z,1629055772.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:33.078Z,1629055773.078 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192933.06*5B

2021-08-15T19:29:33.950Z,1629055773.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:35.469Z,1629055775.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,9B,FF
2021-08-15T19:29:35.469Z,1629055775.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,9B,FF
2021-08-15T19:29:35.470Z,1629055775.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:29:36.732Z,1629055776.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:37.117Z,1629055777.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:37.117Z,1629055777.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:37.118Z,1629055777.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:37.119Z,1629055777.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:37.497Z,1629055777.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,9B,FF
2021-08-15T19:29:37.497Z,1629055777.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:37.497Z,1629055777.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:37.499Z,1629055777.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:37.911Z,1629055777.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:38.310Z,1629055778.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00668,18A,80,80,B8,FF
2021-08-15T19:29:38.311Z,1629055778.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:38.737Z,1629055778.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192938.67*57

2021-08-15T19:29:38.759Z,1629055778.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 59.211866 deg, deltaT: 10.134778 s, approachRate: 0.071043 m/s, LOS rate: 0.190153 deg/s, posRepo size: 4
2021-08-15T19:29:41.188Z,1629055781.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:41.537Z,1629055781.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:41.537Z,1629055781.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:41.537Z,1629055781.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:41.538Z,1629055781.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:41.945Z,1629055781.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00668,18A,80,80,B8,FF
2021-08-15T19:29:41.946Z,1629055781.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:41.946Z,1629055781.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:41.947Z,1629055781.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:42.364Z,1629055782.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:42.757Z,1629055782.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B26,000,0066D,189,80,80,B8,FF
2021-08-15T19:29:42.757Z,1629055782.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:43.193Z,1629055783.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,192943.12*59

2021-08-15T19:29:43.219Z,1629055783.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.200008 m, bearing: 57.897465 deg, deltaT: 4.443838 s, approachRate: 0.067511 m/s, LOS rate: -0.295781 deg/s, posRepo size: 4
2021-08-15T19:29:45.614Z,1629055785.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:45.985Z,1629055785.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:45.985Z,1629055785.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:45.985Z,1629055785.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:45.986Z,1629055785.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:46.390Z,1629055786.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B26,000,0066D,189,80,80,B8,FF
2021-08-15T19:29:46.390Z,1629055786.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:46.390Z,1629055786.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:46.392Z,1629055786.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:46.799Z,1629055786.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:47.193Z,1629055787.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B38,000,00675,189,80,80,76,FF
2021-08-15T19:29:47.194Z,1629055787.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:47.629Z,1629055787.629 [Micromodem](INFO): Nmea in: $SNTTA,0.081123,,,,192947.56*4A

2021-08-15T19:29:47.688Z,1629055787.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 57.831888 deg, deltaT: 4.437302 s, approachRate: 0.108172 m/s, LOS rate: -0.014778 deg/s, posRepo size: 4
2021-08-15T19:29:50.131Z,1629055790.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:50.421Z,1629055790.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:50.421Z,1629055790.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:50.421Z,1629055790.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:50.422Z,1629055790.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:50.838Z,1629055790.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B38,000,00675,189,80,80,76,FF
2021-08-15T19:29:50.838Z,1629055790.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:50.838Z,1629055790.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:50.842Z,1629055790.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:51.241Z,1629055791.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:51.634Z,1629055791.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B57,000,0067E,189,80,80,A6,FF
2021-08-15T19:29:51.634Z,1629055791.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:52.065Z,1629055792.065 [Micromodem](INFO): Nmea in: $SNTTA,0.389115,0.389133,,,192952.02*5C

2021-08-15T19:29:52.139Z,1629055792.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.220009 m, bearing: 57.207872 deg, deltaT: 4.446578 s, approachRate: 0.121444 m/s, LOS rate: -0.140336 deg/s, posRepo size: 4
2021-08-15T19:29:54.486Z,1629055794.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:54.865Z,1629055794.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:54.865Z,1629055794.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:54.865Z,1629055794.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:54.866Z,1629055794.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:55.273Z,1629055795.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B57,000,0067E,189,80,80,A6,FF
2021-08-15T19:29:55.273Z,1629055795.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:55.273Z,1629055795.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:55.275Z,1629055795.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:29:55.686Z,1629055795.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:29:56.113Z,1629055796.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B91,000,0067F,18A,80,80,D3,FF
2021-08-15T19:29:56.113Z,1629055796.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:29:56.518Z,1629055796.518 [Micromodem](INFO): Nmea in: $SNTTA,0.041235,,,,192956.45*40

2021-08-15T19:29:56.559Z,1629055796.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.279999 m, bearing: 55.305435 deg, deltaT: 4.485765 s, approachRate: 0.013373 m/s, LOS rate: -0.424105 deg/s, posRepo size: 4
2021-08-15T19:29:58.948Z,1629055798.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:29:59.314Z,1629055799.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:29:59.314Z,1629055799.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:29:59.314Z,1629055799.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:29:59.315Z,1629055799.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:29:59.713Z,1629055799.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B91,000,0067F,18A,80,80,D3,FF
2021-08-15T19:29:59.713Z,1629055799.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:29:59.713Z,1629055799.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:29:59.715Z,1629055799.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:00.117Z,1629055800.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:00.521Z,1629055800.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA8,000,00685,189,80,80,A1,FF
2021-08-15T19:30:00.522Z,1629055800.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:00.966Z,1629055800.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193000.89*54

2021-08-15T19:30:00.984Z,1629055800.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.640007 m, bearing: 54.889541 deg, deltaT: 4.386053 s, approachRate: 0.082080 m/s, LOS rate: -0.094822 deg/s, posRepo size: 4
2021-08-15T19:30:03.389Z,1629055803.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:03.757Z,1629055803.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:03.757Z,1629055803.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:03.757Z,1629055803.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:03.758Z,1629055803.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:04.157Z,1629055804.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA8,000,00685,189,80,80,A1,FF
2021-08-15T19:30:04.157Z,1629055804.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:04.157Z,1629055804.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:04.159Z,1629055804.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:04.574Z,1629055804.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:04.965Z,1629055804.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB2,000,0068C,189,80,80,86,FF
2021-08-15T19:30:04.966Z,1629055804.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:05.417Z,1629055805.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.059998 m, bearing: 55.188267 deg, deltaT: 4.454781 s, approachRate: 0.094279 m/s, LOS rate: 0.067057 deg/s, posRepo size: 4
2021-08-15T19:30:07.879Z,1629055807.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:08.197Z,1629055808.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:08.197Z,1629055808.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:08.197Z,1629055808.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:08.198Z,1629055808.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:08.606Z,1629055808.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB2,000,0068C,189,80,80,86,FF
2021-08-15T19:30:08.606Z,1629055808.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:08.606Z,1629055808.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:08.609Z,1629055808.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:09.012Z,1629055809.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:09.409Z,1629055809.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0B,000,00697,189,80,80,92,FF
2021-08-15T19:30:09.410Z,1629055809.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:09.870Z,1629055809.870 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193009.78*53

2021-08-15T19:30:09.905Z,1629055809.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.719997 m, bearing: 51.618560 deg, deltaT: 4.419177 s, approachRate: 0.149349 m/s, LOS rate: -0.807776 deg/s, posRepo size: 4
2021-08-15T19:30:12.287Z,1629055812.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:12.641Z,1629055812.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:12.641Z,1629055812.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:12.641Z,1629055812.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:12.642Z,1629055812.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:13.067Z,1629055813.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0B,000,00697,189,80,80,92,FF
2021-08-15T19:30:13.067Z,1629055813.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:13.067Z,1629055813.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:13.069Z,1629055813.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:13.457Z,1629055813.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:13.889Z,1629055813.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1B,000,0069A,189,80,80,61,FF
2021-08-15T19:30:13.890Z,1629055813.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:13.893Z,1629055813.893 [Micromodem](INFO): Nmea in: $SNTTA,0.045435,0.200178,,,193014.24*59

2021-08-15T19:30:14.331Z,1629055814.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 51.599993 deg, deltaT: 4.554616 s, approachRate: 0.039520 m/s, LOS rate: -0.004077 deg/s, posRepo size: 4
2021-08-15T19:30:16.703Z,1629055816.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:17.121Z,1629055817.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:17.121Z,1629055817.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:17.121Z,1629055817.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:17.122Z,1629055817.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:17.501Z,1629055817.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1B,000,0069A,189,80,80,61,FF
2021-08-15T19:30:17.501Z,1629055817.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:17.501Z,1629055817.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:17.503Z,1629055817.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:17.908Z,1629055817.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:18.302Z,1629055818.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0F,000,006A4,189,80,80,B5,FF
2021-08-15T19:30:18.302Z,1629055818.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:18.745Z,1629055818.745 [Micromodem](INFO): Nmea in: $SNTTA,0.042669,,,,193018.67*4C

2021-08-15T19:30:18.784Z,1629055818.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 53.198551 deg, deltaT: 4.369650 s, approachRate: 0.137313 m/s, LOS rate: 0.365832 deg/s, posRepo size: 4
2021-08-15T19:30:21.171Z,1629055821.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:21.529Z,1629055821.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:21.529Z,1629055821.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:21.529Z,1629055821.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:21.530Z,1629055821.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:21.941Z,1629055821.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0F,000,006A4,189,80,80,B5,FF
2021-08-15T19:30:21.942Z,1629055821.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:21.942Z,1629055821.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:21.943Z,1629055821.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:22.365Z,1629055822.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:22.757Z,1629055822.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1C,000,006AC,189,80,80,7E,FF
2021-08-15T19:30:22.758Z,1629055822.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:23.198Z,1629055823.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193023.11*54

2021-08-15T19:30:23.227Z,1629055823.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.980003 m, bearing: 53.114116 deg, deltaT: 4.441421 s, approachRate: 0.108073 m/s, LOS rate: -0.019011 deg/s, posRepo size: 4
2021-08-15T19:30:25.606Z,1629055825.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:25.997Z,1629055825.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:25.997Z,1629055825.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:25.997Z,1629055825.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:25.998Z,1629055825.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:26.389Z,1629055826.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1C,000,006AC,189,80,80,7E,FF
2021-08-15T19:30:26.389Z,1629055826.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:26.389Z,1629055826.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:26.391Z,1629055826.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:26.812Z,1629055826.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:27.197Z,1629055827.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C30,000,006B0,189,80,80,8F,FF
2021-08-15T19:30:27.198Z,1629055827.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:27.638Z,1629055827.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193027.57*52

2021-08-15T19:30:27.654Z,1629055827.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 52.910183 deg, deltaT: 4.454465 s, approachRate: 0.053878 m/s, LOS rate: -0.045782 deg/s, posRepo size: 4
2021-08-15T19:30:30.113Z,1629055830.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:30.425Z,1629055830.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:30.425Z,1629055830.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:30.425Z,1629055830.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:30.426Z,1629055830.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:30.833Z,1629055830.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C30,000,006B0,189,80,80,8F,FF
2021-08-15T19:30:30.833Z,1629055830.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:30.834Z,1629055830.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:30.835Z,1629055830.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:31.253Z,1629055831.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:31.646Z,1629055831.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3A,000,006B8,189,80,80,A4,FF
2021-08-15T19:30:31.646Z,1629055831.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:32.078Z,1629055832.078 [Micromodem](INFO): Nmea in: $SNTTA,0.393918,0.393925,,,193032.01*5B

2021-08-15T19:30:32.123Z,1629055832.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.700005 m, bearing: 52.671417 deg, deltaT: 4.438212 s, approachRate: 0.108152 m/s, LOS rate: -0.053798 deg/s, posRepo size: 4
2021-08-15T19:30:34.497Z,1629055834.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:34.873Z,1629055834.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:34.873Z,1629055834.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:34.873Z,1629055834.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:34.874Z,1629055834.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:35.281Z,1629055835.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3A,000,006B8,189,80,80,A4,FF
2021-08-15T19:30:35.281Z,1629055835.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:35.281Z,1629055835.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:35.283Z,1629055835.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:35.684Z,1629055835.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:36.117Z,1629055836.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7D,000,006C8,189,80,80,7D,FF
2021-08-15T19:30:36.117Z,1629055836.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:36.140Z,1629055836.140 [Micromodem](INFO): Nmea in: $SNTTA,0.168411,0.166424,,,193036.46*5A

2021-08-15T19:30:36.524Z,1629055836.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 49.878679 deg, deltaT: 4.509353 s, approachRate: 0.212891 m/s, LOS rate: -0.619321 deg/s, posRepo size: 4
2021-08-15T19:30:38.934Z,1629055838.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:39.321Z,1629055839.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:39.322Z,1629055839.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:39.322Z,1629055839.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:39.323Z,1629055839.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:39.730Z,1629055839.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7D,000,006C8,189,80,80,7D,FF
2021-08-15T19:30:39.730Z,1629055839.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:39.730Z,1629055839.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:39.731Z,1629055839.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:40.141Z,1629055840.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:40.545Z,1629055840.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C1E,000,006C4,18A,80,80,24,FF
2021-08-15T19:30:40.546Z,1629055840.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:40.969Z,1629055840.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193040.90*58

2021-08-15T19:30:40.991Z,1629055840.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.419998 m, bearing: 55.855812 deg, deltaT: 4.358198 s, approachRate: -0.055070 m/s, LOS rate: 1.371469 deg/s, posRepo size: 4
2021-08-15T19:30:43.399Z,1629055843.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:43.776Z,1629055843.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:43.776Z,1629055843.776 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:43.776Z,1629055843.776 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:43.777Z,1629055843.777 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:44.180Z,1629055844.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C1E,000,006C4,18A,80,80,24,FF
2021-08-15T19:30:44.180Z,1629055844.180 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:44.181Z,1629055844.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:44.182Z,1629055844.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:44.581Z,1629055844.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:44.973Z,1629055844.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,006D1,189,80,80,86,FF
2021-08-15T19:30:44.974Z,1629055844.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:45.409Z,1629055845.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193045.36*51

2021-08-15T19:30:45.463Z,1629055845.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 46.731741 deg, deltaT: 4.462778 s, approachRate: 0.174779 m/s, LOS rate: -2.044482 deg/s, posRepo size: 4
2021-08-15T19:30:47.903Z,1629055847.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:48.205Z,1629055848.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:48.205Z,1629055848.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:48.205Z,1629055848.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:48.206Z,1629055848.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:48.610Z,1629055848.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,006D1,189,80,80,86,FF
2021-08-15T19:30:48.610Z,1629055848.610 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:48.610Z,1629055848.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:48.613Z,1629055848.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:49.033Z,1629055849.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:49.414Z,1629055849.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C42,000,006D2,189,80,80,5A,FF
2021-08-15T19:30:49.415Z,1629055849.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:49.893Z,1629055849.893 [Micromodem](INFO): Nmea in: $SNTTA,0.075844,,,,193049.79*42

2021-08-15T19:30:49.946Z,1629055849.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 56.149148 deg, deltaT: 4.460060 s, approachRate: 0.013454 m/s, LOS rate: 2.111498 deg/s, posRepo size: 4
2021-08-15T19:30:52.281Z,1629055852.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:52.654Z,1629055852.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:52.654Z,1629055852.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:52.654Z,1629055852.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:52.655Z,1629055852.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:53.069Z,1629055853.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C42,000,006D2,189,80,80,5A,FF
2021-08-15T19:30:53.070Z,1629055853.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:53.070Z,1629055853.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:53.071Z,1629055853.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:53.464Z,1629055853.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:53.911Z,1629055853.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,006D8,189,80,80,A3,FF
2021-08-15T19:30:53.912Z,1629055853.912 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:53.923Z,1629055853.923 [Micromodem](INFO): Nmea in: $SNTTA,0.052619,0.312794,,,193054.24*51

2021-08-15T19:30:54.353Z,1629055854.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.619995 m, bearing: 52.964558 deg, deltaT: 4.517985 s, approachRate: 0.079680 m/s, LOS rate: -0.704869 deg/s, posRepo size: 4
2021-08-15T19:30:56.706Z,1629055856.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:30:57.117Z,1629055857.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:30:57.117Z,1629055857.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:30:57.117Z,1629055857.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:30:57.118Z,1629055857.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:30:57.497Z,1629055857.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,006D8,189,80,80,A3,FF
2021-08-15T19:30:57.497Z,1629055857.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:30:57.497Z,1629055857.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:30:57.499Z,1629055857.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:30:57.930Z,1629055857.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:30:58.306Z,1629055858.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,006E1,18A,80,80,71,FF
2021-08-15T19:30:58.306Z,1629055858.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:30:58.741Z,1629055858.741 [Micromodem](INFO): Nmea in: $SNTTA,0.053744,,,,193058.67*46

2021-08-15T19:30:58.776Z,1629055858.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 48.996994 deg, deltaT: 4.365335 s, approachRate: 0.123704 m/s, LOS rate: -0.908880 deg/s, posRepo size: 4
2021-08-15T19:31:01.183Z,1629055861.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:01.541Z,1629055861.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:01.541Z,1629055861.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:01.541Z,1629055861.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:01.542Z,1629055861.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:01.945Z,1629055861.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,006E1,18A,80,80,71,FF
2021-08-15T19:31:01.945Z,1629055861.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:01.945Z,1629055861.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:01.947Z,1629055861.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:02.353Z,1629055862.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:02.777Z,1629055862.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE1,000,006E5,189,80,80,82,FF
2021-08-15T19:31:02.777Z,1629055862.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:03.185Z,1629055863.185 [Micromodem](INFO): Nmea in: $SNTTA,0.053426,,,,193103.12*4C

2021-08-15T19:31:03.211Z,1629055863.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 52.397537 deg, deltaT: 4.426151 s, approachRate: 0.054224 m/s, LOS rate: 0.768284 deg/s, posRepo size: 4
2021-08-15T19:31:05.594Z,1629055865.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:05.989Z,1629055865.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:05.989Z,1629055865.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:05.989Z,1629055865.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:05.990Z,1629055865.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:06.385Z,1629055866.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE1,000,006E5,189,80,80,82,FF
2021-08-15T19:31:06.385Z,1629055866.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:06.385Z,1629055866.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:06.387Z,1629055866.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:06.793Z,1629055866.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:07.193Z,1629055867.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,006F0,189,80,80,47,FF
2021-08-15T19:31:07.194Z,1629055867.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:07.629Z,1629055867.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193107.56*50

2021-08-15T19:31:07.664Z,1629055867.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 52.252142 deg, deltaT: 4.449678 s, approachRate: 0.148323 m/s, LOS rate: -0.032675 deg/s, posRepo size: 4
2021-08-15T19:31:08.022Z,1629055868.022 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:31:10.125Z,1629055870.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:10.429Z,1629055870.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:10.429Z,1629055870.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:10.430Z,1629055870.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:10.431Z,1629055870.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:10.829Z,1629055870.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,006F0,189,80,80,47,FF
2021-08-15T19:31:10.829Z,1629055870.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:10.829Z,1629055870.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:10.831Z,1629055870.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:11.241Z,1629055871.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:11.637Z,1629055871.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0C,000,006F8,189,80,80,92,FF
2021-08-15T19:31:11.638Z,1629055871.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:12.081Z,1629055872.081 [Micromodem](INFO): Nmea in: $SNTTA,0.095265,0.395979,,,193112.00*52

2021-08-15T19:31:12.134Z,1629055872.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 52.771759 deg, deltaT: 4.422903 s, approachRate: 0.108527 m/s, LOS rate: 0.117483 deg/s, posRepo size: 4
2021-08-15T19:31:14.486Z,1629055874.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:14.869Z,1629055874.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:14.869Z,1629055874.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:14.869Z,1629055874.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:14.870Z,1629055874.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:15.281Z,1629055875.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0C,000,006F8,189,80,80,92,FF
2021-08-15T19:31:15.282Z,1629055875.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:15.282Z,1629055875.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:15.283Z,1629055875.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:15.685Z,1629055875.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:16.113Z,1629055876.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,006FB,189,80,80,69,FF
2021-08-15T19:31:16.113Z,1629055876.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:16.117Z,1629055876.117 [Micromodem](INFO): Nmea in: $SNTTA,0.208537,0.208656,,,193116.45*56

2021-08-15T19:31:16.524Z,1629055876.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 51.516760 deg, deltaT: 4.539143 s, approachRate: 0.039655 m/s, LOS rate: -0.276484 deg/s, posRepo size: 4
2021-08-15T19:31:18.926Z,1629055878.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:19.318Z,1629055879.318 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:19.318Z,1629055879.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:19.318Z,1629055879.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:19.319Z,1629055879.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:19.717Z,1629055879.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,006FB,189,80,80,69,FF
2021-08-15T19:31:19.717Z,1629055879.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:19.717Z,1629055879.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:19.719Z,1629055879.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:20.125Z,1629055880.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:20.533Z,1629055880.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,00702,186,80,80,86,FF
2021-08-15T19:31:20.534Z,1629055880.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:20.961Z,1629055880.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193120.89*57

2021-08-15T19:31:21.021Z,1629055881.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.139999 m, bearing: 0.202156 deg, deltaT: 4.344036 s, approachRate: 0.096684 m/s, LOS rate: -11.812656 deg/s, posRepo size: 4
2021-08-15T19:31:23.404Z,1629055883.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:23.761Z,1629055883.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:23.761Z,1629055883.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:23.761Z,1629055883.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:23.762Z,1629055883.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:24.161Z,1629055884.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,00702,186,80,80,86,FF
2021-08-15T19:31:24.161Z,1629055884.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:24.161Z,1629055884.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:24.163Z,1629055884.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:24.584Z,1629055884.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:24.969Z,1629055884.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00707,186,80,80,81,FF
2021-08-15T19:31:24.970Z,1629055884.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:25.401Z,1629055885.401 [Micromodem](INFO): Nmea in: $SNTTA,0.075376,,,,193125.34*4A

2021-08-15T19:31:25.432Z,1629055885.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 359.433979 deg, deltaT: 4.530720 s, approachRate: 0.066215 m/s, LOS rate: -0.169546 deg/s, posRepo size: 4
2021-08-15T19:31:27.880Z,1629055887.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:28.201Z,1629055888.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:28.201Z,1629055888.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:28.201Z,1629055888.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:28.202Z,1629055888.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:28.609Z,1629055888.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00707,186,80,80,81,FF
2021-08-15T19:31:28.609Z,1629055888.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:28.609Z,1629055888.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:28.611Z,1629055888.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:29.058Z,1629055889.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:29.421Z,1629055889.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,0070C,186,80,80,A0,FF
2021-08-15T19:31:29.422Z,1629055889.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:29.890Z,1629055889.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 356.690264 deg, deltaT: 4.357348 s, approachRate: 0.068848 m/s, LOS rate: -0.629675 deg/s, posRepo size: 4
2021-08-15T19:31:32.299Z,1629055892.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:32.649Z,1629055892.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:32.649Z,1629055892.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:32.649Z,1629055892.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:32.650Z,1629055892.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:33.069Z,1629055893.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,0070C,186,80,80,A0,FF
2021-08-15T19:31:33.069Z,1629055893.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:33.069Z,1629055893.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:33.071Z,1629055893.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:33.453Z,1629055893.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:33.893Z,1629055893.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00714,189,80,80,87,FF
2021-08-15T19:31:33.893Z,1629055893.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:34.290Z,1629055894.290 [Micromodem](INFO): Nmea in: $SNTTA,0.146333,,,,193134.24*4B

2021-08-15T19:31:34.337Z,1629055894.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.220001 m, bearing: 355.812530 deg, deltaT: 4.491293 s, approachRate: 0.106874 m/s, LOS rate: -0.195430 deg/s, posRepo size: 4
2021-08-15T19:31:36.710Z,1629055896.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:37.102Z,1629055897.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:37.102Z,1629055897.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:37.103Z,1629055897.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:37.104Z,1629055897.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:37.509Z,1629055897.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00714,189,80,80,87,FF
2021-08-15T19:31:37.509Z,1629055897.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:37.509Z,1629055897.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:37.511Z,1629055897.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:37.909Z,1629055897.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:38.310Z,1629055898.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,0071A,189,80,80,A7,FF
2021-08-15T19:31:38.310Z,1629055898.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:38.729Z,1629055898.729 [Micromodem](INFO): Nmea in: $SNTTA,0.388825,,,,193138.68*43

2021-08-15T19:31:38.772Z,1629055898.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 356.202070 deg, deltaT: 4.439393 s, approachRate: 0.081092 m/s, LOS rate: 0.087746 deg/s, posRepo size: 4
2021-08-15T19:31:41.166Z,1629055901.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:41.541Z,1629055901.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:41.541Z,1629055901.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:41.541Z,1629055901.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:41.542Z,1629055901.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:41.941Z,1629055901.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,0071A,189,80,80,A7,FF
2021-08-15T19:31:41.941Z,1629055901.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:41.941Z,1629055901.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:41.943Z,1629055901.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:42.357Z,1629055902.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:42.781Z,1629055902.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00726,189,80,80,A0,FF
2021-08-15T19:31:42.781Z,1629055902.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:43.186Z,1629055903.186 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193143.12*50

2021-08-15T19:31:43.211Z,1629055903.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 356.958390 deg, deltaT: 4.457214 s, approachRate: 0.161536 m/s, LOS rate: 0.169685 deg/s, posRepo size: 4
2021-08-15T19:31:45.610Z,1629055905.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:45.976Z,1629055905.976 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:45.976Z,1629055905.976 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:45.976Z,1629055905.976 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:45.977Z,1629055905.977 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:46.389Z,1629055906.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00726,189,80,80,A0,FF
2021-08-15T19:31:46.390Z,1629055906.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:46.390Z,1629055906.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:46.397Z,1629055906.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:46.793Z,1629055906.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:47.190Z,1629055907.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCE,000,0072B,188,80,80,94,FF
2021-08-15T19:31:47.190Z,1629055907.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:47.621Z,1629055907.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193147.57*55

2021-08-15T19:31:47.643Z,1629055907.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.599998 m, bearing: 58.615591 deg, deltaT: 4.433713 s, approachRate: 0.067662 m/s, LOS rate: 13.906448 deg/s, posRepo size: 4
2021-08-15T19:31:50.125Z,1629055910.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:50.422Z,1629055910.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:50.422Z,1629055910.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:50.423Z,1629055910.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:50.424Z,1629055910.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:50.833Z,1629055910.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCE,000,0072B,188,80,80,94,FF
2021-08-15T19:31:50.833Z,1629055910.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:50.833Z,1629055910.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:50.835Z,1629055910.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:51.241Z,1629055911.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:31:51.638Z,1629055911.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00730,187,80,80,A3,FF
2021-08-15T19:31:51.638Z,1629055911.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:31:52.135Z,1629055912.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.900002 m, bearing: 56.225127 deg, deltaT: 4.394758 s, approachRate: 0.068264 m/s, LOS rate: -0.543935 deg/s, posRepo size: 4
2021-08-15T19:31:52.138Z,1629055912.138 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T19:31:52.138Z,1629055912.138 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T19:31:52.139Z,1629055912.139 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T19:31:52.139Z,1629055912.139 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:31:52.139Z,1629055912.139 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T19:31:52.489Z,1629055912.489 [Micromodem](INFO): Sent 180 bytes from file Logs/20210815T181729/Courier0018.lzma.parts
2021-08-15T19:31:52.489Z,1629055912.489 [Micromodem](INFO): Packets left to send: 0
2021-08-15T19:31:53.163Z,1629055913.163 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A1961150000005D00000400260000000000000000151D80030C5669C08C7998561FF83233BFB06C26C1F9539D7F117F7A4D1811678F80B082C800
2021-08-15T19:31:53.164Z,1629055913.164 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T19:31:53.361Z,1629055913.361 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T19:31:53.753Z,1629055913.753 [Micromodem](INFO): Nmea in: $CADRQ,193154,1,10,0,64,1*7D

2021-08-15T19:31:53.753Z,1629055913.753 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961150000005D00000400260000000000000000151D80030C5669C08C7998561FF83233BFB06C26C1F9539D7F117F7A4D1811678F80B082C800*4E

2021-08-15T19:31:54.150Z,1629055914.150 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T19:31:54.420Z,1629055914.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:54.556Z,1629055914.556 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:31:54.557Z,1629055914.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:31:54.557Z,1629055914.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:31:54.558Z,1629055914.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:31:54.563Z,1629055914.563 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T19:31:54.943Z,1629055914.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00730,187,80,80,A3,FF
2021-08-15T19:31:54.943Z,1629055914.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:31:54.944Z,1629055914.944 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:31:54.946Z,1629055914.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:31:55.753Z,1629055915.753 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T19:31:55.753Z,1629055915.753 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T19:31:56.169Z,1629055916.169 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,193154.947855,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-15T19:31:56.170Z,1629055916.170 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,193154.947855,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-15T19:31:56.985Z,1629055916.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:31:57.890Z,1629055917.890 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T19:31:57.891Z,1629055917.891 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T181729/Courier0021.lzma.parts
2021-08-15T19:31:57.891Z,1629055917.891 [Micromodem](INFO): Packets left to send: 0
2021-08-15T19:31:58.248Z,1629055918.248 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815193157.862930,06,32767,45,0111,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,21.1,10.11,19,-7.11,-01,0.25,40,14500,4000*54

2021-08-15T19:31:58.248Z,1629055918.248 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815193157.862930,06,32767,45,0111,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,21.1,10.11,19,-7.11,-01,0.25,40,14500,4000*54

2021-08-15T19:31:58.507Z,1629055918.507 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T19:31:58.507Z,1629055918.507 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T19:31:58.508Z,1629055918.508 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T19:31:58.508Z,1629055918.508 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:31:58.508Z,1629055918.508 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T19:31:59.614Z,1629055919.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:00.824Z,1629055920.824 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.266290
2021-08-15T19:32:02.117Z,1629055922.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:02.425Z,1629055922.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:02.425Z,1629055922.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:02.425Z,1629055922.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:02.426Z,1629055922.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:02.826Z,1629055922.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00730,187,80,80,A3,FF
2021-08-15T19:32:02.827Z,1629055922.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:02.827Z,1629055922.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:04.875Z,1629055924.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:06.071Z,1629055926.071 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:06.478Z,1629055926.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:06.869Z,1629055926.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,00746,186,80,80,9B,FF
2021-08-15T19:32:06.869Z,1629055926.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:07.318Z,1629055927.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193207.24*56

2021-08-15T19:32:07.375Z,1629055927.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 54.723803 deg, deltaT: 15.254989 s, approachRate: 0.086529 m/s, LOS rate: -0.098415 deg/s, posRepo size: 4
2021-08-15T19:32:09.749Z,1629055929.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:10.109Z,1629055930.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:10.110Z,1629055930.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:10.110Z,1629055930.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:10.111Z,1629055930.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:10.517Z,1629055930.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,00746,186,80,80,9B,FF
2021-08-15T19:32:10.517Z,1629055930.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:10.517Z,1629055930.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:10.522Z,1629055930.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:10.934Z,1629055930.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:11.325Z,1629055931.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0074B,187,80,80,81,FF
2021-08-15T19:32:11.326Z,1629055931.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:11.757Z,1629055931.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193211.70*50

2021-08-15T19:32:11.783Z,1629055931.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.520004 m, bearing: 53.616934 deg, deltaT: 4.462575 s, approachRate: 0.067226 m/s, LOS rate: -0.248034 deg/s, posRepo size: 4
2021-08-15T19:32:14.223Z,1629055934.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:14.557Z,1629055934.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:14.557Z,1629055934.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:14.557Z,1629055934.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:14.558Z,1629055934.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:14.965Z,1629055934.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0074B,187,80,80,81,FF
2021-08-15T19:32:14.965Z,1629055934.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:14.965Z,1629055934.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:14.967Z,1629055934.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:15.369Z,1629055935.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:15.785Z,1629055935.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00750,187,80,80,AF,FF
2021-08-15T19:32:15.786Z,1629055935.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:16.209Z,1629055936.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193216.14*55

2021-08-15T19:32:16.279Z,1629055936.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 52.456925 deg, deltaT: 4.509404 s, approachRate: 0.066527 m/s, LOS rate: -0.257242 deg/s, posRepo size: 4
2021-08-15T19:32:18.606Z,1629055938.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:19.010Z,1629055939.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:19.010Z,1629055939.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:19.011Z,1629055939.011 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:19.012Z,1629055939.012 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:19.409Z,1629055939.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00750,187,80,80,AF,FF
2021-08-15T19:32:19.409Z,1629055939.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:19.409Z,1629055939.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:19.411Z,1629055939.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:19.839Z,1629055939.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:20.229Z,1629055940.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00758,186,80,80,AC,FF
2021-08-15T19:32:20.229Z,1629055940.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:20.649Z,1629055940.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193220.59*59

2021-08-15T19:32:20.671Z,1629055940.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 53.519426 deg, deltaT: 4.397383 s, approachRate: 0.109157 m/s, LOS rate: 0.241621 deg/s, posRepo size: 4
2021-08-15T19:32:23.097Z,1629055943.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:23.440Z,1629055943.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:23.440Z,1629055943.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:23.441Z,1629055943.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:23.441Z,1629055943.441 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:23.889Z,1629055943.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00758,186,80,80,AC,FF
2021-08-15T19:32:23.889Z,1629055943.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:23.889Z,1629055943.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:23.891Z,1629055943.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:24.256Z,1629055944.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:24.664Z,1629055944.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,00761,187,80,80,C5,FF
2021-08-15T19:32:24.665Z,1629055944.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:25.075Z,1629055945.075 [Micromodem](INFO): Nmea in: $SNTTA,0.088761,,,,193225.06*48

2021-08-15T19:32:25.133Z,1629055945.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 53.229908 deg, deltaT: 4.402913 s, approachRate: 0.122646 m/s, LOS rate: -0.065756 deg/s, posRepo size: 4
2021-08-15T19:32:27.323Z,1629055947.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:27.669Z,1629055947.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:27.669Z,1629055947.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:27.669Z,1629055947.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:27.670Z,1629055947.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:28.105Z,1629055948.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,00761,187,80,80,C5,FF
2021-08-15T19:32:28.105Z,1629055948.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:28.105Z,1629055948.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:28.107Z,1629055948.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:28.154Z,1629055948.154 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:32:28.493Z,1629055948.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:28.889Z,1629055948.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0076A,184,80,80,A7,FF
2021-08-15T19:32:28.890Z,1629055948.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:29.322Z,1629055949.322 [Micromodem](INFO): Nmea in: $SNTTA,0.056704,,,,193229.28*48

2021-08-15T19:32:29.324Z,1629055949.324 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T19:32:29.383Z,1629055949.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.380005 m, bearing: 54.301223 deg, deltaT: 4.249876 s, approachRate: 0.127063 m/s, LOS rate: 0.252082 deg/s, posRepo size: 4
2021-08-15T19:32:31.749Z,1629055951.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:32.133Z,1629055952.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:32.133Z,1629055952.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:32.133Z,1629055952.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:32.134Z,1629055952.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:32.525Z,1629055952.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0076A,184,80,80,A7,FF
2021-08-15T19:32:32.525Z,1629055952.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:32.525Z,1629055952.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:32.527Z,1629055952.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:32.941Z,1629055952.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:33.354Z,1629055953.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,0076F,185,80,80,AD,FF
2021-08-15T19:32:33.354Z,1629055953.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:33.785Z,1629055953.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193233.70*50

2021-08-15T19:32:33.878Z,1629055953.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.680000 m, bearing: 54.518027 deg, deltaT: 4.448434 s, approachRate: 0.067438 m/s, LOS rate: 0.048737 deg/s, posRepo size: 4
2021-08-15T19:32:36.236Z,1629055956.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:36.570Z,1629055956.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:36.570Z,1629055956.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:36.570Z,1629055956.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:36.571Z,1629055956.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:36.969Z,1629055956.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,0076F,185,80,80,AD,FF
2021-08-15T19:32:36.969Z,1629055956.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:36.970Z,1629055956.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:36.971Z,1629055956.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:37.388Z,1629055957.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:37.808Z,1629055957.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00774,182,80,80,AB,FF
2021-08-15T19:32:37.826Z,1629055957.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:37.870Z,1629055957.870 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:32:38.221Z,1629055958.221 [Micromodem](INFO): Nmea in: $SNTTA,0.058331,,,,193238.14*4B

2021-08-15T19:32:38.247Z,1629055958.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 53.615657 deg, deltaT: 4.524394 s, approachRate: 0.066308 m/s, LOS rate: -0.199446 deg/s, posRepo size: 4
2021-08-15T19:32:40.629Z,1629055960.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:41.023Z,1629055961.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:41.023Z,1629055961.023 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:41.023Z,1629055961.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:41.024Z,1629055961.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:41.421Z,1629055961.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00774,182,80,80,AB,FF
2021-08-15T19:32:41.421Z,1629055961.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:41.422Z,1629055961.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:41.423Z,1629055961.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:41.857Z,1629055961.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:42.221Z,1629055962.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,0077A,185,80,80,AD,FF
2021-08-15T19:32:42.222Z,1629055962.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:42.662Z,1629055962.662 [Micromodem](INFO): Nmea in: $SNTTA,0.087606,,,,193242.60*46

2021-08-15T19:32:42.684Z,1629055962.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.339996 m, bearing: 53.873001 deg, deltaT: 4.381651 s, approachRate: 0.082159 m/s, LOS rate: 0.058732 deg/s, posRepo size: 4
2021-08-15T19:32:45.111Z,1629055965.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:45.453Z,1629055965.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:45.453Z,1629055965.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:45.453Z,1629055965.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:45.454Z,1629055965.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:45.897Z,1629055965.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,0077A,185,80,80,AD,FF
2021-08-15T19:32:45.897Z,1629055965.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:45.897Z,1629055965.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:45.899Z,1629055965.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:46.269Z,1629055966.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:46.673Z,1629055966.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00782,183,80,80,A4,FF
2021-08-15T19:32:46.674Z,1629055966.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:47.121Z,1629055967.121 [Micromodem](INFO): Nmea in: $SNTTA,0.054014,,,,193247.07*49

2021-08-15T19:32:47.173Z,1629055967.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.820000 m, bearing: 53.191854 deg, deltaT: 4.428083 s, approachRate: 0.108400 m/s, LOS rate: -0.153824 deg/s, posRepo size: 4
2021-08-15T19:32:47.921Z,1629055967.921 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:32:49.519Z,1629055969.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:49.916Z,1629055969.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:49.916Z,1629055969.916 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:49.917Z,1629055969.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:49.918Z,1629055969.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:50.302Z,1629055970.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00782,183,80,80,A4,FF
2021-08-15T19:32:50.302Z,1629055970.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:50.302Z,1629055970.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:50.305Z,1629055970.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:50.717Z,1629055970.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:51.121Z,1629055971.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00787,186,80,80,B9,FF
2021-08-15T19:32:51.122Z,1629055971.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:51.553Z,1629055971.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193251.48*5F

2021-08-15T19:32:51.575Z,1629055971.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 52.175016 deg, deltaT: 4.434411 s, approachRate: 0.067652 m/s, LOS rate: -0.229306 deg/s, posRepo size: 4
2021-08-15T19:32:54.005Z,1629055974.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:54.349Z,1629055974.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:54.349Z,1629055974.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:54.349Z,1629055974.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:54.350Z,1629055974.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:54.750Z,1629055974.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00787,186,80,80,B9,FF
2021-08-15T19:32:54.750Z,1629055974.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:54.750Z,1629055974.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:54.753Z,1629055974.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:55.153Z,1629055975.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:32:55.561Z,1629055975.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CA,000,0078E,186,80,80,8D,FF
2021-08-15T19:32:55.562Z,1629055975.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:32:55.977Z,1629055975.977 [Micromodem](INFO): Nmea in: $SNTTA,0.433522,0.433397,,,193255.93*55

2021-08-15T19:32:56.044Z,1629055976.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 51.903301 deg, deltaT: 4.460281 s, approachRate: 0.094166 m/s, LOS rate: -0.060919 deg/s, posRepo size: 4
2021-08-15T19:32:58.015Z,1629055978.015 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T19:32:58.429Z,1629055978.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:32:58.790Z,1629055978.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:32:58.790Z,1629055978.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:32:58.791Z,1629055978.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:32:58.791Z,1629055978.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:32:59.189Z,1629055979.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CA,000,0078E,186,80,80,8D,FF
2021-08-15T19:32:59.190Z,1629055979.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:32:59.190Z,1629055979.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:32:59.204Z,1629055979.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:32:59.604Z,1629055979.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:00.006Z,1629055980.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,00794,186,80,80,A1,FF
2021-08-15T19:33:00.007Z,1629055980.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:00.014Z,1629055980.014 [Micromodem](INFO): Nmea in: $SNTTA,0.052498,0.205611,,,193300.38*5E

2021-08-15T19:33:00.483Z,1629055980.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.900009 m, bearing: 50.469053 deg, deltaT: 4.533975 s, approachRate: 0.079402 m/s, LOS rate: -0.316333 deg/s, posRepo size: 4
2021-08-15T19:33:02.870Z,1629055982.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:03.237Z,1629055983.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:03.238Z,1629055983.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:03.238Z,1629055983.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:03.239Z,1629055983.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:03.633Z,1629055983.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,00794,186,80,80,A1,FF
2021-08-15T19:33:03.633Z,1629055983.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:03.633Z,1629055983.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:03.635Z,1629055983.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:04.066Z,1629055984.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:04.454Z,1629055984.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,139,000,0079A,186,80,80,B3,FF
2021-08-15T19:33:04.456Z,1629055984.456 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:04.887Z,1629055984.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.260002 m, bearing: 50.232725 deg, deltaT: 4.340407 s, approachRate: 0.082940 m/s, LOS rate: -0.054448 deg/s, posRepo size: 4
2021-08-15T19:33:07.303Z,1629055987.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:07.673Z,1629055987.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:07.673Z,1629055987.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:07.673Z,1629055987.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:07.674Z,1629055987.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:08.105Z,1629055988.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
139,000,0079A,186,80,80,B3,FF
2021-08-15T19:33:08.105Z,1629055988.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:08.105Z,1629055988.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:08.107Z,1629055988.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:08.505Z,1629055988.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:08.893Z,1629055988.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,0079E,185,80,80,A9,FF
2021-08-15T19:33:08.893Z,1629055988.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:09.318Z,1629055989.318 [Micromodem](INFO): Nmea in: $SNTTA,0.088406,,,,193309.28*49

2021-08-15T19:33:09.366Z,1629055989.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.500008 m, bearing: 49.727209 deg, deltaT: 4.452774 s, approachRate: 0.053900 m/s, LOS rate: -0.113528 deg/s, posRepo size: 4
2021-08-15T19:33:11.750Z,1629055991.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:12.117Z,1629055992.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:12.117Z,1629055992.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:12.118Z,1629055992.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:12.118Z,1629055992.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:12.526Z,1629055992.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,0079E,185,80,80,A9,FF
2021-08-15T19:33:12.526Z,1629055992.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:12.526Z,1629055992.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:12.528Z,1629055992.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:12.928Z,1629055992.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:13.333Z,1629055993.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,007A6,186,80,80,C4,FF
2021-08-15T19:33:13.334Z,1629055993.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:13.761Z,1629055993.761 [Micromodem](INFO): Nmea in: $SNTTA,0.080814,,,,193313.70*48

2021-08-15T19:33:13.857Z,1629055993.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.979996 m, bearing: 49.093996 deg, deltaT: 4.452364 s, approachRate: 0.107805 m/s, LOS rate: -0.142220 deg/s, posRepo size: 4
2021-08-15T19:33:16.214Z,1629055996.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:16.561Z,1629055996.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:16.561Z,1629055996.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:16.561Z,1629055996.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:16.562Z,1629055996.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:16.966Z,1629055996.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,007A6,186,80,80,C4,FF
2021-08-15T19:33:16.966Z,1629055996.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:16.966Z,1629055996.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:16.968Z,1629055996.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:17.373Z,1629055997.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:17.781Z,1629055997.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,007AF,186,80,80,B4,FF
2021-08-15T19:33:17.782Z,1629055997.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:17.854Z,1629055997.854 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:33:18.201Z,1629055998.201 [Micromodem](INFO): Nmea in: $SNTTA,0.073870,,,,193318.14*4F

2021-08-15T19:33:18.226Z,1629055998.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 48.136622 deg, deltaT: 4.491564 s, approachRate: 0.120227 m/s, LOS rate: -0.213149 deg/s, posRepo size: 4
2021-08-15T19:33:20.618Z,1629056000.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:21.017Z,1629056001.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:21.017Z,1629056001.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:21.017Z,1629056001.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:21.018Z,1629056001.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:21.410Z,1629056001.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,007AF,186,80,80,B4,FF
2021-08-15T19:33:21.410Z,1629056001.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:21.410Z,1629056001.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:21.412Z,1629056001.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:21.854Z,1629056001.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:22.638Z,1629056002.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193322.59*5A

2021-08-15T19:33:23.446Z,1629056003.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:25.053Z,1629056005.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,B4,FF
2021-08-15T19:33:25.054Z,1629056005.054 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,B4,FF
2021-08-15T19:33:25.054Z,1629056005.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:33:25.970Z,1629056005.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:26.253Z,1629056006.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:26.253Z,1629056006.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:26.253Z,1629056006.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:26.254Z,1629056006.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:26.658Z,1629056006.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,B4,FF
2021-08-15T19:33:26.658Z,1629056006.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:26.658Z,1629056006.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:26.659Z,1629056006.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:27.088Z,1629056007.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:27.469Z,1629056007.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,210,000,007BE,187,80,80,A8,FF
2021-08-15T19:33:27.469Z,1629056007.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:27.925Z,1629056007.925 [Micromodem](INFO): Nmea in: $SNTTA,0.479594,0.479857,,,193327.83*5A

2021-08-15T19:33:27.940Z,1629056007.940 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T19:33:27.978Z,1629056007.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.419998 m, bearing: 47.494199 deg, deltaT: 9.638800 s, approachRate: 0.093372 m/s, LOS rate: -0.066650 deg/s, posRepo size: 4
2021-08-15T19:33:30.349Z,1629056010.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:30.701Z,1629056010.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:30.701Z,1629056010.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:30.701Z,1629056010.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:30.702Z,1629056010.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:31.113Z,1629056011.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
210,000,007BE,187,80,80,A8,FF
2021-08-15T19:33:31.113Z,1629056011.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:31.114Z,1629056011.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:31.115Z,1629056011.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:31.517Z,1629056011.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:31.917Z,1629056011.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,007C9,189,80,80,AD,FF
2021-08-15T19:33:31.917Z,1629056011.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:32.357Z,1629056012.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193332.29*5C

2021-08-15T19:33:32.394Z,1629056012.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.080002 m, bearing: 45.275029 deg, deltaT: 4.467760 s, approachRate: 0.147726 m/s, LOS rate: -0.496707 deg/s, posRepo size: 4
2021-08-15T19:33:34.774Z,1629056014.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:35.149Z,1629056015.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:35.149Z,1629056015.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:35.149Z,1629056015.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:35.150Z,1629056015.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:35.549Z,1629056015.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,007C9,189,80,80,AD,FF
2021-08-15T19:33:35.549Z,1629056015.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:35.550Z,1629056015.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:35.551Z,1629056015.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:35.953Z,1629056015.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:36.365Z,1629056016.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,007D0,189,80,80,B2,FF
2021-08-15T19:33:36.366Z,1629056016.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:36.793Z,1629056016.793 [Micromodem](INFO): Nmea in: $SNTTA,0.083422,,,,193336.73*46

2021-08-15T19:33:36.834Z,1629056016.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 44.324004 deg, deltaT: 4.437331 s, approachRate: 0.094651 m/s, LOS rate: -0.214324 deg/s, posRepo size: 4
2021-08-15T19:33:39.236Z,1629056019.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:39.593Z,1629056019.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:39.593Z,1629056019.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:39.593Z,1629056019.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:39.594Z,1629056019.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:39.993Z,1629056019.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,007D0,189,80,80,B2,FF
2021-08-15T19:33:39.993Z,1629056019.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:39.993Z,1629056019.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:39.995Z,1629056019.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:40.405Z,1629056020.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:40.805Z,1629056020.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,007D6,189,80,80,A1,FF
2021-08-15T19:33:40.805Z,1629056020.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:41.241Z,1629056021.241 [Micromodem](INFO): Nmea in: $SNTTA,0.061302,,,,193341.17*4D

2021-08-15T19:33:41.267Z,1629056021.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.859993 m, bearing: 44.447596 deg, deltaT: 4.449064 s, approachRate: 0.080914 m/s, LOS rate: 0.027779 deg/s, posRepo size: 4
2021-08-15T19:33:43.661Z,1629056023.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:44.048Z,1629056024.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:44.049Z,1629056024.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:44.049Z,1629056024.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:44.051Z,1629056024.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:44.456Z,1629056024.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,007D6,189,80,80,A1,FF
2021-08-15T19:33:44.457Z,1629056024.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:44.457Z,1629056024.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:44.459Z,1629056024.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:44.853Z,1629056024.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:45.257Z,1629056025.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,007DC,189,80,80,BA,FF
2021-08-15T19:33:45.257Z,1629056025.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:45.693Z,1629056025.693 [Micromodem](INFO): Nmea in: $SNTTA,0.096613,,,,193345.63*47

2021-08-15T19:33:45.715Z,1629056025.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 44.839335 deg, deltaT: 4.412711 s, approachRate: 0.081584 m/s, LOS rate: 0.088775 deg/s, posRepo size: 4
2021-08-15T19:33:48.130Z,1629056028.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T19:33:48.155Z,1629056028.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:48.491Z,1629056028.491 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:48.491Z,1629056028.491 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:48.491Z,1629056028.491 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:48.493Z,1629056028.493 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:48.885Z,1629056028.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,007DC,189,80,80,BA,FF
2021-08-15T19:33:48.885Z,1629056028.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:48.885Z,1629056028.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:48.887Z,1629056028.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:49.299Z,1629056029.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:49.693Z,1629056029.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,007E9,189,80,80,B3,FF
2021-08-15T19:33:49.694Z,1629056029.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:50.134Z,1629056030.134 [Micromodem](INFO): Nmea in: $SNTTA,0.058556,0.403410,,,193350.06*5C

2021-08-15T19:33:50.213Z,1629056030.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 45.781348 deg, deltaT: 4.456263 s, approachRate: 0.175034 m/s, LOS rate: 0.211391 deg/s, posRepo size: 4
2021-08-15T19:33:52.551Z,1629056032.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:52.921Z,1629056032.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:52.921Z,1629056032.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:52.922Z,1629056032.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:52.922Z,1629056032.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:53.331Z,1629056033.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,007E9,189,80,80,B3,FF
2021-08-15T19:33:53.331Z,1629056033.331 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:53.331Z,1629056033.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:53.333Z,1629056033.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:53.733Z,1629056033.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:54.134Z,1629056034.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,007EF,189,80,80,92,FF
2021-08-15T19:33:54.135Z,1629056034.135 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:54.140Z,1629056034.140 [Micromodem](INFO): Nmea in: $SNTTA,0.120717,0.076216,,,193354.51*55

2021-08-15T19:33:54.581Z,1629056034.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.360001 m, bearing: 42.404451 deg, deltaT: 4.485537 s, approachRate: 0.080258 m/s, LOS rate: -0.752841 deg/s, posRepo size: 4
2021-08-15T19:33:56.989Z,1629056036.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:33:57.374Z,1629056037.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:33:57.374Z,1629056037.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:33:57.374Z,1629056037.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:33:57.375Z,1629056037.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:33:57.773Z,1629056037.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,007EF,189,80,80,92,FF
2021-08-15T19:33:57.773Z,1629056037.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:33:57.774Z,1629056037.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:33:57.775Z,1629056037.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:33:58.180Z,1629056038.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:33:58.586Z,1629056038.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,007F2,189,80,80,AD,FF
2021-08-15T19:33:58.586Z,1629056038.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:33:59.029Z,1629056039.029 [Micromodem](INFO): Nmea in: $SNTTA,0.063919,,,,193358.95*4D

2021-08-15T19:33:59.083Z,1629056039.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 45.352111 deg, deltaT: 4.375487 s, approachRate: 0.041138 m/s, LOS rate: 0.673676 deg/s, posRepo size: 4
2021-08-15T19:34:01.453Z,1629056041.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:01.815Z,1629056041.815 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:01.816Z,1629056041.816 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:01.817Z,1629056041.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:01.818Z,1629056041.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:02.217Z,1629056042.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,007F2,189,80,80,AD,FF
2021-08-15T19:34:02.218Z,1629056042.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:02.218Z,1629056042.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:02.220Z,1629056042.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:02.632Z,1629056042.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:03.051Z,1629056043.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,007F9,189,80,80,BE,FF
2021-08-15T19:34:03.052Z,1629056043.052 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:03.458Z,1629056043.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193403.40*56

2021-08-15T19:34:03.474Z,1629056043.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.959999 m, bearing: 45.668998 deg, deltaT: 4.520061 s, approachRate: 0.092919 m/s, LOS rate: 0.070107 deg/s, posRepo size: 4
2021-08-15T19:34:05.931Z,1629056045.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:06.253Z,1629056046.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:06.253Z,1629056046.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:06.253Z,1629056046.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:06.254Z,1629056046.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:06.657Z,1629056046.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,007F9,189,80,80,BE,FF
2021-08-15T19:34:06.657Z,1629056046.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:06.657Z,1629056046.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:06.659Z,1629056046.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:07.080Z,1629056047.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:07.465Z,1629056047.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00804,189,80,80,AD,FF
2021-08-15T19:34:07.466Z,1629056047.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:07.937Z,1629056047.937 [Micromodem](INFO): Nmea in: $SNTTA,0.480826,,,,193407.84*44

2021-08-15T19:34:08.067Z,1629056048.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 45.720883 deg, deltaT: 4.387339 s, approachRate: 0.150434 m/s, LOS rate: 0.011826 deg/s, posRepo size: 4
2021-08-15T19:34:10.335Z,1629056050.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:10.693Z,1629056050.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:10.694Z,1629056050.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:10.694Z,1629056050.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:10.694Z,1629056050.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:11.109Z,1629056051.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,00804,189,80,80,AD,FF
2021-08-15T19:34:11.109Z,1629056051.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:11.109Z,1629056051.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:11.111Z,1629056051.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:11.513Z,1629056051.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:11.918Z,1629056051.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,00807,189,80,80,9B,FF
2021-08-15T19:34:11.918Z,1629056051.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:12.346Z,1629056052.346 [Micromodem](INFO): Nmea in: $SNTTA,0.071411,,,,193412.29*45

2021-08-15T19:34:12.385Z,1629056052.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.800003 m, bearing: 41.537276 deg, deltaT: 4.471784 s, approachRate: 0.040252 m/s, LOS rate: -0.935557 deg/s, posRepo size: 4
2021-08-15T19:34:14.779Z,1629056054.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:15.141Z,1629056055.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:15.141Z,1629056055.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:15.141Z,1629056055.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:15.142Z,1629056055.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:15.545Z,1629056055.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,00807,189,80,80,9B,FF
2021-08-15T19:34:15.545Z,1629056055.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:15.545Z,1629056055.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:15.548Z,1629056055.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:15.953Z,1629056055.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:16.362Z,1629056056.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,00815,189,80,80,91,FF
2021-08-15T19:34:16.362Z,1629056056.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:16.809Z,1629056056.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193416.73*52

2021-08-15T19:34:16.852Z,1629056056.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.639999 m, bearing: 42.914109 deg, deltaT: 4.410733 s, approachRate: 0.190444 m/s, LOS rate: 0.312155 deg/s, posRepo size: 4
2021-08-15T19:34:19.209Z,1629056059.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:19.589Z,1629056059.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:19.589Z,1629056059.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:19.589Z,1629056059.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:19.590Z,1629056059.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:19.989Z,1629056059.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,00815,189,80,80,91,FF
2021-08-15T19:34:19.989Z,1629056059.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:19.989Z,1629056059.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:19.991Z,1629056059.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:20.404Z,1629056060.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:20.809Z,1629056060.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,00820,189,80,80,9A,FF
2021-08-15T19:34:20.809Z,1629056060.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:21.238Z,1629056061.238 [Micromodem](INFO): Nmea in: $SNTTA,0.114303,,,,193421.17*4E

2021-08-15T19:34:21.263Z,1629056061.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 44.719584 deg, deltaT: 4.559410 s, approachRate: 0.144756 m/s, LOS rate: 0.395989 deg/s, posRepo size: 4
2021-08-15T19:34:23.653Z,1629056063.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:24.033Z,1629056064.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:24.033Z,1629056064.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:24.034Z,1629056064.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:24.035Z,1629056064.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:24.433Z,1629056064.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,00820,189,80,80,9A,FF
2021-08-15T19:34:24.433Z,1629056064.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:24.434Z,1629056064.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:24.435Z,1629056064.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:24.844Z,1629056064.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:25.241Z,1629056065.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,309,000,00825,188,80,80,8E,FF
2021-08-15T19:34:25.242Z,1629056065.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:25.685Z,1629056065.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193425.61*51

2021-08-15T19:34:25.707Z,1629056065.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.600006 m, bearing: 41.302523 deg, deltaT: 4.348095 s, approachRate: 0.068996 m/s, LOS rate: -0.785876 deg/s, posRepo size: 4
2021-08-15T19:34:28.163Z,1629056068.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:28.473Z,1629056068.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:28.473Z,1629056068.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:28.473Z,1629056068.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:28.474Z,1629056068.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:28.877Z,1629056068.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
309,000,00825,188,80,80,8E,FF
2021-08-15T19:34:28.877Z,1629056068.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:28.877Z,1629056068.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:28.879Z,1629056068.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:29.298Z,1629056069.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:29.685Z,1629056069.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00826,18A,80,80,85,FF
2021-08-15T19:34:29.685Z,1629056069.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:30.130Z,1629056070.130 [Micromodem](INFO): Nmea in: $SNTTA,0.367295,0.367758,,,193430.05*53

2021-08-15T19:34:30.175Z,1629056070.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 46.323975 deg, deltaT: 4.430227 s, approachRate: 0.013541 m/s, LOS rate: 1.133453 deg/s, posRepo size: 4
2021-08-15T19:34:32.544Z,1629056072.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:32.949Z,1629056072.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:32.949Z,1629056072.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:32.949Z,1629056072.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:32.950Z,1629056072.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:33.322Z,1629056073.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00826,18A,80,80,85,FF
2021-08-15T19:34:33.322Z,1629056073.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:33.322Z,1629056073.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:33.323Z,1629056073.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:33.729Z,1629056073.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:34.129Z,1629056074.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,00832,189,80,80,A2,FF
2021-08-15T19:34:34.130Z,1629056074.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:34.133Z,1629056074.133 [Micromodem](INFO): Nmea in: $SNTTA,0.186301,0.186208,,,193434.50*5B

2021-08-15T19:34:34.568Z,1629056074.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.380005 m, bearing: 46.255458 deg, deltaT: 4.488103 s, approachRate: 0.160426 m/s, LOS rate: -0.015266 deg/s, posRepo size: 4
2021-08-15T19:34:36.990Z,1629056076.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:37.373Z,1629056077.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:37.373Z,1629056077.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:37.374Z,1629056077.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:37.375Z,1629056077.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:37.772Z,1629056077.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,00832,189,80,80,A2,FF
2021-08-15T19:34:37.772Z,1629056077.772 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:37.772Z,1629056077.772 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:37.774Z,1629056077.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:38.169Z,1629056078.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:38.577Z,1629056078.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,0083B,188,80,80,8E,FF
2021-08-15T19:34:38.578Z,1629056078.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:39.011Z,1629056079.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193438.95*56

2021-08-15T19:34:39.081Z,1629056079.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 42.666204 deg, deltaT: 4.375744 s, approachRate: 0.123406 m/s, LOS rate: -0.820261 deg/s, posRepo size: 4
2021-08-15T19:34:41.444Z,1629056081.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:41.825Z,1629056081.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:41.825Z,1629056081.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:41.826Z,1629056081.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:41.827Z,1629056081.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:42.213Z,1629056082.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,0083B,188,80,80,8E,FF
2021-08-15T19:34:42.213Z,1629056082.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:42.213Z,1629056082.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:42.215Z,1629056082.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:42.617Z,1629056082.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:43.028Z,1629056083.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,00842,189,80,80,A2,FF
2021-08-15T19:34:43.029Z,1629056083.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:43.457Z,1629056083.457 [Micromodem](INFO): Nmea in: $SNTTA,0.065368,,,,193443.39*4C

2021-08-15T19:34:43.495Z,1629056083.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 41.567749 deg, deltaT: 4.492832 s, approachRate: 0.093484 m/s, LOS rate: -0.244491 deg/s, posRepo size: 4
2021-08-15T19:34:45.941Z,1629056085.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:46.269Z,1629056086.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:46.269Z,1629056086.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:46.269Z,1629056086.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:46.270Z,1629056086.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:46.657Z,1629056086.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,00842,189,80,80,A2,FF
2021-08-15T19:34:46.658Z,1629056086.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:46.658Z,1629056086.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:46.659Z,1629056086.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:47.093Z,1629056087.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:47.455Z,1629056087.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,0084A,189,80,80,8E,FF
2021-08-15T19:34:47.455Z,1629056087.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:47.936Z,1629056087.936 [Micromodem](INFO): Nmea in: $SNTTA,0.475929,0.475736,,,193447.84*5E

2021-08-15T19:34:47.995Z,1629056087.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 41.001042 deg, deltaT: 4.384068 s, approachRate: 0.109488 m/s, LOS rate: -0.129265 deg/s, posRepo size: 4
2021-08-15T19:34:49.981Z,1629056089.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:50.295Z,1629056090.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:50.295Z,1629056090.295 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:50.296Z,1629056090.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:50.297Z,1629056090.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:50.702Z,1629056090.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
301,000,0084A,189,80,80,8E,FF
2021-08-15T19:34:50.702Z,1629056090.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:50.702Z,1629056090.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:50.704Z,1629056090.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:51.123Z,1629056091.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:51.505Z,1629056091.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,311,000,0084D,189,80,80,94,FF
2021-08-15T19:34:51.506Z,1629056091.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:51.949Z,1629056091.949 [Micromodem](INFO): Nmea in: $SNTTA,0.064692,,,,193451.88*44

2021-08-15T19:34:51.995Z,1629056091.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 40.113209 deg, deltaT: 4.055241 s, approachRate: 0.044385 m/s, LOS rate: -0.218935 deg/s, posRepo size: 4
2021-08-15T19:34:54.387Z,1629056094.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:54.733Z,1629056094.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:54.733Z,1629056094.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:54.733Z,1629056094.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:54.734Z,1629056094.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:55.139Z,1629056095.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
311,000,0084D,189,80,80,94,FF
2021-08-15T19:34:55.139Z,1629056095.139 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:55.139Z,1629056095.139 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:55.158Z,1629056095.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:34:55.552Z,1629056095.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:34:55.974Z,1629056095.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,0084C,189,80,80,A7,FF
2021-08-15T19:34:55.975Z,1629056095.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:34:55.979Z,1629056095.979 [Micromodem](INFO): Nmea in: $SNTTA,0.269334,0.269265,,,193456.33*57

2021-08-15T19:34:56.391Z,1629056096.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.940002 m, bearing: 43.342905 deg, deltaT: 4.593401 s, approachRate: -0.013062 m/s, LOS rate: 0.703116 deg/s, posRepo size: 4
2021-08-15T19:34:56.392Z,1629056096.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 89.94 m. Resuming terminal guidance.
2021-08-15T19:34:56.392Z,1629056096.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T19:34:56.812Z,1629056096.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T19:34:56.812Z,1629056096.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T19:34:56.812Z,1629056096.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T19:34:56.812Z,1629056096.812 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T19:34:56.813Z,1629056096.813 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T19:34:56.813Z,1629056096.813 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T19:34:56.813Z,1629056096.813 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T19:34:58.839Z,1629056098.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:34:59.221Z,1629056099.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:34:59.221Z,1629056099.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:34:59.222Z,1629056099.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:34:59.223Z,1629056099.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:34:59.625Z,1629056099.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,0084C,189,80,80,A7,FF
2021-08-15T19:34:59.625Z,1629056099.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:34:59.626Z,1629056099.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:34:59.627Z,1629056099.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:00.036Z,1629056100.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:00.425Z,1629056100.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,00855,189,80,80,75,FF
2021-08-15T19:35:00.426Z,1629056100.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:00.875Z,1629056100.875 [Micromodem](INFO): Nmea in: $SNTTA,0.062454,,,,193500.80*47

2021-08-15T19:35:00.930Z,1629056100.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.480011 m, bearing: 39.911746 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T19:35:00.931Z,1629056100.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 39.911746deg and heading rate command to 0 deg/s.
2021-08-15T19:35:03.330Z,1629056103.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:03.657Z,1629056103.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:03.657Z,1629056103.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:03.657Z,1629056103.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:03.658Z,1629056103.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:04.087Z,1629056104.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,00855,189,80,80,75,FF
2021-08-15T19:35:04.087Z,1629056104.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:04.088Z,1629056104.088 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:04.090Z,1629056104.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:04.468Z,1629056104.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:04.877Z,1629056104.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00853,189,80,80,A5,FF
2021-08-15T19:35:04.878Z,1629056104.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:05.302Z,1629056105.302 [Micromodem](INFO): Nmea in: $SNTTA,0.060135,,,,193505.27*4F

2021-08-15T19:35:05.342Z,1629056105.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.360001 m, bearing: 41.663157 deg, deltaT: 4.483209 s, approachRate: -0.026769 m/s, LOS rate: 0.390660 deg/s, posRepo size: 2
2021-08-15T19:35:07.727Z,1629056107.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:08.109Z,1629056108.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:08.109Z,1629056108.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:08.109Z,1629056108.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:08.110Z,1629056108.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:08.509Z,1629056108.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00853,189,80,80,A5,FF
2021-08-15T19:35:08.509Z,1629056108.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:08.509Z,1629056108.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:08.511Z,1629056108.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:08.921Z,1629056108.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:09.322Z,1629056109.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,0083F,186,80,80,90,FF
2021-08-15T19:35:09.322Z,1629056109.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:09.753Z,1629056109.753 [Micromodem](INFO): Nmea in: $SNTTA,0.066368,,,,193509.69*45

2021-08-15T19:35:09.815Z,1629056109.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.160004 m, bearing: 48.015168 deg, deltaT: 4.423534 s, approachRate: -0.271276 m/s, LOS rate: 1.435958 deg/s, posRepo size: 3
2021-08-15T19:35:12.194Z,1629056112.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:12.541Z,1629056112.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:12.542Z,1629056112.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:12.542Z,1629056112.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:12.543Z,1629056112.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:12.978Z,1629056112.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,0083F,186,80,80,90,FF
2021-08-15T19:35:12.978Z,1629056112.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:12.978Z,1629056112.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:12.980Z,1629056112.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:13.358Z,1629056113.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:13.757Z,1629056113.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,012,000,0081E,183,80,80,9E,FF
2021-08-15T19:35:13.758Z,1629056113.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:14.179Z,1629056114.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193514.15*51

2021-08-15T19:35:14.251Z,1629056114.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.180008 m, bearing: 51.210347 deg, deltaT: 4.430722 s, approachRate: -0.446879 m/s, LOS rate: 0.721142 deg/s, posRepo size: 4
2021-08-15T19:35:16.611Z,1629056116.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:16.989Z,1629056116.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:16.989Z,1629056116.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:16.989Z,1629056116.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:16.990Z,1629056116.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:17.397Z,1629056117.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
012,000,0081E,183,80,80,9E,FF
2021-08-15T19:35:17.397Z,1629056117.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:17.398Z,1629056117.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:17.399Z,1629056117.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:17.846Z,1629056117.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:18.201Z,1629056118.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,007F5,186,80,80,A9,FF
2021-08-15T19:35:18.202Z,1629056118.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:18.646Z,1629056118.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193518.58*54

2021-08-15T19:35:18.667Z,1629056118.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.719994 m, bearing: 51.191493 deg, deltaT: 4.477035 s, approachRate: -0.549474 m/s, LOS rate: -0.004211 deg/s, posRepo size: 4
2021-08-15T19:35:21.121Z,1629056121.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:21.437Z,1629056121.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:21.437Z,1629056121.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:21.437Z,1629056121.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:21.438Z,1629056121.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:21.884Z,1629056121.884 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,007F5,186,80,80,A9,FF
2021-08-15T19:35:21.885Z,1629056121.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:21.885Z,1629056121.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:21.886Z,1629056121.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:22.298Z,1629056122.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:22.693Z,1629056122.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,007CC,187,80,80,B1,FF
2021-08-15T19:35:22.694Z,1629056122.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:23.154Z,1629056123.154 [Micromodem](INFO): Nmea in: $SNTTA,0.069414,,,,193523.06*47

2021-08-15T19:35:23.186Z,1629056123.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.259995 m, bearing: 50.410054 deg, deltaT: 4.453447 s, approachRate: -0.552381 m/s, LOS rate: -0.175468 deg/s, posRepo size: 4
2021-08-15T19:35:25.538Z,1629056125.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:25.933Z,1629056125.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:25.933Z,1629056125.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:25.933Z,1629056125.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:25.934Z,1629056125.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:26.337Z,1629056126.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,007CC,187,80,80,B1,FF
2021-08-15T19:35:26.338Z,1629056126.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:26.338Z,1629056126.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:26.339Z,1629056126.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:26.736Z,1629056126.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:27.137Z,1629056127.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,0079F,186,80,80,B3,FF
2021-08-15T19:35:27.137Z,1629056127.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:27.577Z,1629056127.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193527.52*52

2021-08-15T19:35:27.619Z,1629056127.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.559998 m, bearing: 50.413592 deg, deltaT: 4.453820 s, approachRate: -0.606220 m/s, LOS rate: 0.000794 deg/s, posRepo size: 4
2021-08-15T19:35:30.037Z,1629056130.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:30.377Z,1629056130.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:30.377Z,1629056130.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:30.377Z,1629056130.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:30.378Z,1629056130.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:30.769Z,1629056130.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0079F,186,80,80,B3,FF
2021-08-15T19:35:30.769Z,1629056130.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:30.769Z,1629056130.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:30.771Z,1629056130.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:31.176Z,1629056131.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:31.577Z,1629056131.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00776,187,80,80,B8,FF
2021-08-15T19:35:31.578Z,1629056131.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:32.055Z,1629056132.055 [Micromodem](INFO): Nmea in: $SNTTA,0.070932,,,,193531.95*4F

2021-08-15T19:35:32.131Z,1629056132.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.099998 m, bearing: 50.920327 deg, deltaT: 4.429753 s, approachRate: -0.555336 m/s, LOS rate: 0.114394 deg/s, posRepo size: 4
2021-08-15T19:35:34.113Z,1629056134.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:34.405Z,1629056134.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:34.405Z,1629056134.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:34.405Z,1629056134.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:34.406Z,1629056134.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:34.810Z,1629056134.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00776,187,80,80,B8,FF
2021-08-15T19:35:34.810Z,1629056134.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:34.810Z,1629056134.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:34.812Z,1629056134.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:35.217Z,1629056135.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:35.617Z,1629056135.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0074F,186,80,80,9F,FF
2021-08-15T19:35:35.617Z,1629056135.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:36.081Z,1629056136.081 [Micromodem](INFO): Nmea in: $SNTTA,0.064098,,,,193535.99*4B

2021-08-15T19:35:36.175Z,1629056136.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 51.564114 deg, deltaT: 4.040921 s, approachRate: -0.579075 m/s, LOS rate: 0.159317 deg/s, posRepo size: 4
2021-08-15T19:35:38.475Z,1629056138.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:38.849Z,1629056138.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:38.849Z,1629056138.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:38.849Z,1629056138.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:38.850Z,1629056138.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:39.257Z,1629056139.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0074F,186,80,80,9F,FF
2021-08-15T19:35:39.257Z,1629056139.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:39.258Z,1629056139.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:39.259Z,1629056139.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:39.660Z,1629056139.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:40.097Z,1629056140.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9B,000,00726,187,80,80,B1,FF
2021-08-15T19:35:40.098Z,1629056140.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:40.506Z,1629056140.506 [Micromodem](INFO): Nmea in: $SNTTA,0.069438,,,,193540.43*4D

2021-08-15T19:35:40.522Z,1629056140.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 51.594785 deg, deltaT: 4.541807 s, approachRate: -0.541634 m/s, LOS rate: 0.006753 deg/s, posRepo size: 4
2021-08-15T19:35:42.918Z,1629056142.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:43.294Z,1629056143.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:43.294Z,1629056143.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:43.294Z,1629056143.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:43.295Z,1629056143.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:43.705Z,1629056143.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9B,000,00726,187,80,80,B1,FF
2021-08-15T19:35:43.705Z,1629056143.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:43.705Z,1629056143.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:43.707Z,1629056143.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:44.116Z,1629056144.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:44.513Z,1629056144.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,006F7,184,80,80,B1,FF
2021-08-15T19:35:44.513Z,1629056144.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:44.949Z,1629056144.949 [Micromodem](INFO): Nmea in: $SNTTA,0.055721,,,,193544.89*4B

2021-08-15T19:35:44.984Z,1629056144.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 50.466127 deg, deltaT: 4.353240 s, approachRate: -0.647795 m/s, LOS rate: -0.259269 deg/s, posRepo size: 4
2021-08-15T19:35:47.393Z,1629056147.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:47.741Z,1629056147.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:47.741Z,1629056147.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:47.742Z,1629056147.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:47.743Z,1629056147.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:48.149Z,1629056148.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,006F7,184,80,80,B1,FF
2021-08-15T19:35:48.149Z,1629056148.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:48.149Z,1629056148.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:48.151Z,1629056148.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:48.554Z,1629056148.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:48.962Z,1629056148.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,006CC,187,80,80,9B,FF
2021-08-15T19:35:48.962Z,1629056148.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:49.397Z,1629056149.397 [Micromodem](INFO): Nmea in: $SNTTA,,0.069869,,,193549.33*4B

2021-08-15T19:35:49.427Z,1629056149.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 52.057718 deg, deltaT: 4.459733 s, approachRate: -0.578509 m/s, LOS rate: 0.356880 deg/s, posRepo size: 4
2021-08-15T19:35:51.871Z,1629056151.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:52.197Z,1629056152.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:52.197Z,1629056152.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:52.197Z,1629056152.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:52.198Z,1629056152.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:52.589Z,1629056152.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,006CC,187,80,80,9B,FF
2021-08-15T19:35:52.589Z,1629056152.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:52.590Z,1629056152.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:52.591Z,1629056152.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:53.047Z,1629056153.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:53.401Z,1629056153.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,006A1,186,80,80,9E,FF
2021-08-15T19:35:53.401Z,1629056153.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:53.869Z,1629056153.869 [Micromodem](INFO): Nmea in: $SNTTA,0.051872,,,,193553.77*41

2021-08-15T19:35:53.925Z,1629056153.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.320000 m, bearing: 51.902570 deg, deltaT: 4.452237 s, approachRate: -0.579484 m/s, LOS rate: -0.034847 deg/s, posRepo size: 4
2021-08-15T19:35:56.270Z,1629056156.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:35:56.633Z,1629056156.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:35:56.633Z,1629056156.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:35:56.633Z,1629056156.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:35:56.634Z,1629056156.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:35:57.053Z,1629056157.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,006A1,186,80,80,9E,FF
2021-08-15T19:35:57.053Z,1629056157.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:35:57.054Z,1629056157.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:35:57.060Z,1629056157.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:35:57.444Z,1629056157.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:35:57.889Z,1629056157.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,00672,184,80,80,79,FF
2021-08-15T19:35:57.889Z,1629056157.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:35:58.281Z,1629056158.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193558.24*5B

2021-08-15T19:35:58.333Z,1629056158.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 51.809584 deg, deltaT: 4.637821 s, approachRate: -0.608044 m/s, LOS rate: -0.020050 deg/s, posRepo size: 4
2021-08-15T19:36:00.718Z,1629056160.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:01.117Z,1629056161.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:01.118Z,1629056161.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:01.118Z,1629056161.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:01.119Z,1629056161.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:01.489Z,1629056161.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,00672,184,80,80,79,FF
2021-08-15T19:36:01.489Z,1629056161.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:01.490Z,1629056161.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:01.491Z,1629056161.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:01.913Z,1629056161.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:02.294Z,1629056162.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,0064A,187,80,80,94,FF
2021-08-15T19:36:02.294Z,1629056162.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:02.730Z,1629056162.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193602.67*50

2021-08-15T19:36:02.767Z,1629056162.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.100006 m, bearing: 52.527392 deg, deltaT: 4.292455 s, approachRate: -0.559119 m/s, LOS rate: 0.167226 deg/s, posRepo size: 4
2021-08-15T19:36:05.184Z,1629056165.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:05.529Z,1629056165.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:05.529Z,1629056165.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:05.529Z,1629056165.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:05.530Z,1629056165.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:05.931Z,1629056165.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,0064A,187,80,80,94,FF
2021-08-15T19:36:05.931Z,1629056165.931 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:05.931Z,1629056165.931 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:05.935Z,1629056165.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:06.365Z,1629056166.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:06.751Z,1629056166.751 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,0061E,184,80,80,93,FF
2021-08-15T19:36:06.752Z,1629056166.752 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:07.185Z,1629056167.185 [Micromodem](INFO): Nmea in: $SNTTA,0.050510,,,,193607.11*4B

2021-08-15T19:36:07.235Z,1629056167.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 51.954114 deg, deltaT: 4.406255 s, approachRate: -0.599151 m/s, LOS rate: -0.130106 deg/s, posRepo size: 4
2021-08-15T19:36:09.595Z,1629056169.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:09.986Z,1629056169.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:09.986Z,1629056169.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:09.986Z,1629056169.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:09.987Z,1629056169.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:10.385Z,1629056170.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,0061E,184,80,80,93,FF
2021-08-15T19:36:10.385Z,1629056170.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:10.385Z,1629056170.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:10.387Z,1629056170.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:10.792Z,1629056170.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:11.205Z,1629056171.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,005F3,185,80,80,81,FF
2021-08-15T19:36:11.206Z,1629056171.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:11.645Z,1629056171.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193611.56*50

2021-08-15T19:36:11.678Z,1629056171.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 52.307313 deg, deltaT: 4.486984 s, approachRate: -0.574995 m/s, LOS rate: 0.078716 deg/s, posRepo size: 4
2021-08-15T19:36:14.161Z,1629056174.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:14.429Z,1629056174.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:14.429Z,1629056174.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:14.429Z,1629056174.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:14.430Z,1629056174.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:14.829Z,1629056174.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,005F3,185,80,80,81,FF
2021-08-15T19:36:14.829Z,1629056174.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:14.830Z,1629056174.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:14.831Z,1629056174.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:15.241Z,1629056175.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:15.637Z,1629056175.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,005C7,184,80,80,8C,FF
2021-08-15T19:36:15.638Z,1629056175.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:16.069Z,1629056176.069 [Micromodem](INFO): Nmea in: $SNTTA,0.044608,0.392994,,,193616.01*57

2021-08-15T19:36:16.127Z,1629056176.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.240005 m, bearing: 51.185496 deg, deltaT: 4.393870 s, approachRate: -0.600836 m/s, LOS rate: -0.255314 deg/s, posRepo size: 4
2021-08-15T19:36:18.210Z,1629056178.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:18.469Z,1629056178.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:18.469Z,1629056178.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:18.469Z,1629056178.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:18.470Z,1629056178.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:18.877Z,1629056178.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,005C7,184,80,80,8C,FF
2021-08-15T19:36:18.877Z,1629056178.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:18.877Z,1629056178.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:18.879Z,1629056178.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:19.304Z,1629056179.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:19.685Z,1629056179.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0059F,184,80,80,6A,FF
2021-08-15T19:36:19.686Z,1629056179.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:20.134Z,1629056180.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193620.06*57

2021-08-15T19:36:20.203Z,1629056180.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 51.234028 deg, deltaT: 4.043190 s, approachRate: -0.593593 m/s, LOS rate: 0.012003 deg/s, posRepo size: 4
2021-08-15T19:36:22.542Z,1629056182.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:22.909Z,1629056182.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:22.909Z,1629056182.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:22.909Z,1629056182.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:22.910Z,1629056182.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:23.321Z,1629056183.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0059F,184,80,80,6A,FF
2021-08-15T19:36:23.321Z,1629056183.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:23.321Z,1629056183.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:23.323Z,1629056183.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:23.720Z,1629056183.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:24.129Z,1629056184.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00572,187,80,80,81,FF
2021-08-15T19:36:24.130Z,1629056184.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:24.561Z,1629056184.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193624.50*50

2021-08-15T19:36:24.583Z,1629056184.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 52.664686 deg, deltaT: 4.506489 s, approachRate: -0.599135 m/s, LOS rate: 0.317466 deg/s, posRepo size: 4
2021-08-15T19:36:26.978Z,1629056186.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:27.361Z,1629056187.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:27.361Z,1629056187.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:27.361Z,1629056187.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:27.362Z,1629056187.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:27.761Z,1629056187.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00572,187,80,80,81,FF
2021-08-15T19:36:27.761Z,1629056187.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:27.761Z,1629056187.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:27.763Z,1629056187.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:28.217Z,1629056188.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:28.601Z,1629056188.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00546,184,80,80,97,FF
2021-08-15T19:36:28.601Z,1629056188.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:29.045Z,1629056189.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193628.94*54

2021-08-15T19:36:29.110Z,1629056189.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 51.966289 deg, deltaT: 4.445238 s, approachRate: -0.593894 m/s, LOS rate: -0.157111 deg/s, posRepo size: 4
2021-08-15T19:36:31.452Z,1629056191.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:31.885Z,1629056191.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:31.886Z,1629056191.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:31.886Z,1629056191.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:31.887Z,1629056191.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:32.245Z,1629056192.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00546,184,80,80,97,FF
2021-08-15T19:36:32.245Z,1629056192.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:32.245Z,1629056192.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:32.247Z,1629056192.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:32.653Z,1629056192.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:33.069Z,1629056193.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0051B,184,80,80,6D,FF
2021-08-15T19:36:33.069Z,1629056193.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:33.496Z,1629056193.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193633.42*55

2021-08-15T19:36:33.512Z,1629056193.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.920002 m, bearing: 51.261393 deg, deltaT: 4.473905 s, approachRate: -0.576677 m/s, LOS rate: -0.157557 deg/s, posRepo size: 4
2021-08-15T19:36:35.989Z,1629056195.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:36.277Z,1629056196.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:36.277Z,1629056196.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:36.277Z,1629056196.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:36.278Z,1629056196.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:36.681Z,1629056196.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0051B,184,80,80,6D,FF
2021-08-15T19:36:36.681Z,1629056196.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:36.682Z,1629056196.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:36.683Z,1629056196.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:37.105Z,1629056197.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:37.489Z,1629056197.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,004F1,187,80,80,AA,FF
2021-08-15T19:36:37.490Z,1629056197.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:37.930Z,1629056197.930 [Micromodem](INFO): Nmea in: $SNTTA,0.039481,,,,193637.86*40

2021-08-15T19:36:37.969Z,1629056197.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 52.704277 deg, deltaT: 4.406538 s, approachRate: -0.571878 m/s, LOS rate: 0.327442 deg/s, posRepo size: 4
2021-08-15T19:36:37.970Z,1629056197.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m.
2021-08-15T19:36:38.339Z,1629056198.339 [PowerOnly](INFO): Powering up loadControl
2021-08-15T19:36:38.379Z,1629056198.379 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:36:38.379Z,1629056198.379 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:36:38.380Z,1629056198.380 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:36:38.381Z,1629056198.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:36:38.381Z,1629056198.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:36:38.381Z,1629056198.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:36:38.754Z,1629056198.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:36:38.754Z,1629056198.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:36:38.754Z,1629056198.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:36:38.754Z,1629056198.754 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:36:40.379Z,1629056200.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:40.752Z,1629056200.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:40.752Z,1629056200.752 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:40.752Z,1629056200.752 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:40.753Z,1629056200.753 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:41.125Z,1629056201.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,004F1,187,80,80,AA,FF
2021-08-15T19:36:41.125Z,1629056201.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:41.125Z,1629056201.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:41.127Z,1629056201.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:41.532Z,1629056201.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:41.933Z,1629056201.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,004C7,184,80,80,79,FF
2021-08-15T19:36:41.933Z,1629056201.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:42.023Z,1629056202.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:36:42.385Z,1629056202.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193642.31*57

2021-08-15T19:36:42.423Z,1629056202.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 52.683438 deg, deltaT: 4.491962 s, approachRate: -0.561001 m/s, LOS rate: -0.004639 deg/s, posRepo size: 4
2021-08-15T19:36:42.423Z,1629056202.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m.
2021-08-15T19:36:44.796Z,1629056204.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:45.165Z,1629056205.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:45.165Z,1629056205.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:45.165Z,1629056205.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:45.166Z,1629056205.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:45.577Z,1629056205.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,004C7,184,80,80,79,FF
2021-08-15T19:36:45.577Z,1629056205.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:45.577Z,1629056205.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:45.579Z,1629056205.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:45.985Z,1629056205.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:46.397Z,1629056206.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,0049A,184,80,80,91,FF
2021-08-15T19:36:46.397Z,1629056206.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:46.418Z,1629056206.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:36:46.825Z,1629056206.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193646.76*50

2021-08-15T19:36:46.847Z,1629056206.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 53.876915 deg, deltaT: 4.388487 s, approachRate: -0.615246 m/s, LOS rate: 0.271956 deg/s, posRepo size: 4
2021-08-15T19:36:46.848Z,1629056206.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.18 m.
2021-08-15T19:36:49.239Z,1629056209.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:49.609Z,1629056209.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:49.609Z,1629056209.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:49.609Z,1629056209.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:49.610Z,1629056209.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:50.013Z,1629056210.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,0049A,184,80,80,91,FF
2021-08-15T19:36:50.013Z,1629056210.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:50.013Z,1629056210.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:50.015Z,1629056210.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:50.428Z,1629056210.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:50.821Z,1629056210.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,00473,185,80,80,8D,FF
2021-08-15T19:36:50.821Z,1629056210.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:50.877Z,1629056210.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:36:51.269Z,1629056211.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193651.19*5F

2021-08-15T19:36:51.324Z,1629056211.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 51.798731 deg, deltaT: 4.458842 s, approachRate: -0.524800 m/s, LOS rate: -0.466082 deg/s, posRepo size: 4
2021-08-15T19:36:51.325Z,1629056211.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.84 m.
2021-08-15T19:36:53.678Z,1629056213.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:54.077Z,1629056214.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:54.077Z,1629056214.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:54.077Z,1629056214.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:54.078Z,1629056214.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:54.473Z,1629056214.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,00473,185,80,80,8D,FF
2021-08-15T19:36:54.473Z,1629056214.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:54.473Z,1629056214.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:54.475Z,1629056214.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:54.876Z,1629056214.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:55.265Z,1629056215.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,0044E,184,80,80,5A,FF
2021-08-15T19:36:55.265Z,1629056215.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:55.349Z,1629056215.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:36:55.709Z,1629056215.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193655.65*50

2021-08-15T19:36:55.725Z,1629056215.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 53.917739 deg, deltaT: 4.471808 s, approachRate: -0.496443 m/s, LOS rate: 0.473859 deg/s, posRepo size: 4
2021-08-15T19:36:55.726Z,1629056215.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.62 m.
2021-08-15T19:36:55.726Z,1629056215.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.62 m.
2021-08-15T19:36:55.726Z,1629056215.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T19:36:58.149Z,1629056218.149 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T19:36:58.198Z,1629056218.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:36:58.509Z,1629056218.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:36:58.509Z,1629056218.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:36:58.509Z,1629056218.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:36:58.510Z,1629056218.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:36:58.911Z,1629056218.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,0044E,184,80,80,5A,FF
2021-08-15T19:36:58.911Z,1629056218.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:36:58.911Z,1629056218.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:36:58.913Z,1629056218.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:36:59.312Z,1629056219.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:36:59.801Z,1629056219.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00428,184,80,80,8B,FF
2021-08-15T19:36:59.802Z,1629056219.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:36:59.925Z,1629056219.925 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:00.153Z,1629056220.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193700.09*5B

2021-08-15T19:37:00.205Z,1629056220.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.340000 m, bearing: 52.592272 deg, deltaT: 4.576100 s, approachRate: -0.498241 m/s, LOS rate: -0.289650 deg/s, posRepo size: 4
2021-08-15T19:37:02.555Z,1629056222.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:02.947Z,1629056222.947 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:02.948Z,1629056222.948 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:02.949Z,1629056222.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:02.951Z,1629056222.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:03.361Z,1629056223.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00428,184,80,80,8B,FF
2021-08-15T19:37:03.361Z,1629056223.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:03.361Z,1629056223.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:03.363Z,1629056223.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:03.782Z,1629056223.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:04.161Z,1629056224.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,003FF,185,80,80,9E,FF
2021-08-15T19:37:04.162Z,1629056224.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:04.251Z,1629056224.251 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:04.590Z,1629056224.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193704.54*57

2021-08-15T19:37:04.621Z,1629056224.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 53.055270 deg, deltaT: 4.330928 s, approachRate: -0.568007 m/s, LOS rate: 0.106905 deg/s, posRepo size: 4
2021-08-15T19:37:07.040Z,1629056227.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:07.393Z,1629056227.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:07.393Z,1629056227.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:07.393Z,1629056227.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:07.394Z,1629056227.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:07.793Z,1629056227.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,003FF,185,80,80,9E,FF
2021-08-15T19:37:07.794Z,1629056227.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:07.794Z,1629056227.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:07.803Z,1629056227.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:08.205Z,1629056228.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:08.638Z,1629056228.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,003D7,184,80,80,A0,FF
2021-08-15T19:37:08.639Z,1629056228.639 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:08.703Z,1629056228.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:09.042Z,1629056229.042 [Micromodem](INFO): Nmea in: $SNTTA,0.022963,,,,193708.98*49

2021-08-15T19:37:09.064Z,1629056229.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 51.878671 deg, deltaT: 4.447165 s, approachRate: -0.539670 m/s, LOS rate: -0.264573 deg/s, posRepo size: 4
2021-08-15T19:37:11.451Z,1629056231.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:11.870Z,1629056231.870 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:11.870Z,1629056231.870 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:11.870Z,1629056231.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:11.872Z,1629056231.872 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:12.233Z,1629056232.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,003D7,184,80,80,A0,FF
2021-08-15T19:37:12.233Z,1629056232.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:12.233Z,1629056232.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:12.235Z,1629056232.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:12.649Z,1629056232.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:13.072Z,1629056233.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,003AF,184,80,80,A3,FF
2021-08-15T19:37:13.073Z,1629056233.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:13.103Z,1629056233.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:13.489Z,1629056233.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193713.41*55

2021-08-15T19:37:13.514Z,1629056233.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 55.818474 deg, deltaT: 4.400276 s, approachRate: -0.545421 m/s, LOS rate: 0.895354 deg/s, posRepo size: 4
2021-08-15T19:37:15.979Z,1629056235.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:16.277Z,1629056236.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:16.277Z,1629056236.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:16.277Z,1629056236.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:16.278Z,1629056236.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:16.677Z,1629056236.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,003AF,184,80,80,A3,FF
2021-08-15T19:37:16.677Z,1629056236.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:16.678Z,1629056236.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:16.679Z,1629056236.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:17.081Z,1629056237.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:17.513Z,1629056237.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00383,185,80,80,72,FF
2021-08-15T19:37:17.514Z,1629056237.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:17.630Z,1629056237.630 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:17.925Z,1629056237.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193717.86*5A

2021-08-15T19:37:17.986Z,1629056237.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 54.849715 deg, deltaT: 4.527223 s, approachRate: -0.583139 m/s, LOS rate: -0.213985 deg/s, posRepo size: 4
2021-08-15T19:37:20.343Z,1629056240.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:20.725Z,1629056240.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:20.726Z,1629056240.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:20.726Z,1629056240.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:20.727Z,1629056240.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:21.121Z,1629056241.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00383,185,80,80,72,FF
2021-08-15T19:37:21.121Z,1629056241.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:21.121Z,1629056241.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:21.123Z,1629056241.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:21.532Z,1629056241.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:21.934Z,1629056241.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,00355,184,80,80,84,FF
2021-08-15T19:37:21.934Z,1629056241.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:22.008Z,1629056242.008 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:22.377Z,1629056242.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193722.30*51

2021-08-15T19:37:22.415Z,1629056242.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 54.432079 deg, deltaT: 4.377967 s, approachRate: -0.630429 m/s, LOS rate: -0.095395 deg/s, posRepo size: 4
2021-08-15T19:37:24.779Z,1629056244.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:25.161Z,1629056245.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:25.161Z,1629056245.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:25.161Z,1629056245.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:25.162Z,1629056245.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:25.584Z,1629056245.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,00355,184,80,80,84,FF
2021-08-15T19:37:25.584Z,1629056245.584 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:25.585Z,1629056245.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:25.586Z,1629056245.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:25.981Z,1629056245.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:26.378Z,1629056246.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,0032F,184,80,80,B3,FF
2021-08-15T19:37:26.378Z,1629056246.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:26.409Z,1629056246.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:26.809Z,1629056246.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193726.76*57

2021-08-15T19:37:26.831Z,1629056246.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 53.844953 deg, deltaT: 4.400593 s, approachRate: -0.518112 m/s, LOS rate: -0.133420 deg/s, posRepo size: 4
2021-08-15T19:37:29.223Z,1629056249.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:29.641Z,1629056249.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:29.641Z,1629056249.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:29.641Z,1629056249.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:29.642Z,1629056249.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:30.017Z,1629056250.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,0032F,184,80,80,B3,FF
2021-08-15T19:37:30.017Z,1629056250.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:30.017Z,1629056250.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:30.019Z,1629056250.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:30.425Z,1629056250.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:30.822Z,1629056250.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,0030A,182,80,80,B3,FF
2021-08-15T19:37:30.822Z,1629056250.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:30.853Z,1629056250.853 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:31.253Z,1629056251.253 [Micromodem](INFO): Nmea in: $SNTTA,0.044340,,,,193731.20*4B

2021-08-15T19:37:31.275Z,1629056251.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 52.640620 deg, deltaT: 4.444274 s, approachRate: -0.499519 m/s, LOS rate: -0.270985 deg/s, posRepo size: 4
2021-08-15T19:37:33.667Z,1629056253.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:34.053Z,1629056254.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:34.053Z,1629056254.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:34.054Z,1629056254.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:34.055Z,1629056254.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:34.462Z,1629056254.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,0030A,182,80,80,B3,FF
2021-08-15T19:37:34.462Z,1629056254.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:34.462Z,1629056254.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:34.464Z,1629056254.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:34.860Z,1629056254.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:35.269Z,1629056255.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFE,000,002E8,183,80,80,BB,FF
2021-08-15T19:37:35.269Z,1629056255.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:35.349Z,1629056255.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:35.701Z,1629056255.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193735.64*56

2021-08-15T19:37:35.739Z,1629056255.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 51.067012 deg, deltaT: 4.495797 s, approachRate: -0.453758 m/s, LOS rate: -0.350017 deg/s, posRepo size: 4
2021-08-15T19:37:38.164Z,1629056258.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:38.502Z,1629056258.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:38.502Z,1629056258.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:38.502Z,1629056258.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:38.503Z,1629056258.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:38.912Z,1629056258.912 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFE,000,002E8,183,80,80,BB,FF
2021-08-15T19:37:38.912Z,1629056258.912 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:38.913Z,1629056258.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:38.914Z,1629056258.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:39.307Z,1629056259.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:39.705Z,1629056259.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,002CA,183,80,80,BC,FF
2021-08-15T19:37:39.706Z,1629056259.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:39.848Z,1629056259.848 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:40.141Z,1629056260.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193740.09*5F

2021-08-15T19:37:40.189Z,1629056260.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 50.648414 deg, deltaT: 4.498992 s, approachRate: -0.400090 m/s, LOS rate: -0.093043 deg/s, posRepo size: 4
2021-08-15T19:37:42.577Z,1629056262.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:42.941Z,1629056262.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:42.941Z,1629056262.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:42.941Z,1629056262.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:42.942Z,1629056262.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:43.345Z,1629056263.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,002CA,183,80,80,BC,FF
2021-08-15T19:37:43.345Z,1629056263.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:43.346Z,1629056263.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:43.347Z,1629056263.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:43.748Z,1629056263.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:44.157Z,1629056264.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,002BA,187,80,80,82,FF
2021-08-15T19:37:44.157Z,1629056264.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:44.221Z,1629056264.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:44.601Z,1629056264.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193744.52*55

2021-08-15T19:37:44.626Z,1629056264.626 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T19:37:44.626Z,1629056264.626 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T19:37:44.626Z,1629056264.626 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T19:37:44.626Z,1629056264.626 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:37:44.627Z,1629056264.627 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T19:37:44.627Z,1629056264.627 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.380000 m 
2021-08-15T19:37:44.627Z,1629056264.627 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T19:37:44.627Z,1629056264.627 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T19:37:44.627Z,1629056264.627 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T19:37:44.630Z,1629056264.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.380000 m, bearing: 57.119028 deg, deltaT: 4.372598 s, approachRate: -0.219549 m/s, LOS rate: 1.479810 deg/s, posRepo size: 4
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T193745: (41.552319, -70.708603)
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T19:37:45.002Z,1629056265.002 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T19:37:45.003Z,1629056265.003 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T19:37:45.003Z,1629056265.003 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T19:37:47.033Z,1629056267.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:47.381Z,1629056267.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:47.381Z,1629056267.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:47.381Z,1629056267.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:47.382Z,1629056267.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:47.803Z,1629056267.803 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,002BA,187,80,80,82,FF
2021-08-15T19:37:47.803Z,1629056267.803 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:47.808Z,1629056267.808 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:47.818Z,1629056267.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:48.197Z,1629056268.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:48.597Z,1629056268.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,002C6,184,80,80,CE,FF
2021-08-15T19:37:48.598Z,1629056268.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:48.645Z,1629056268.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:49.018Z,1629056269.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193749.00*5F

2021-08-15T19:37:49.070Z,1629056269.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 50.241564 deg, deltaT: 4.424602 s, approachRate: 0.162727 m/s, LOS rate: -1.554369 deg/s, posRepo size: 4
2021-08-15T19:37:51.458Z,1629056271.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:51.873Z,1629056271.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:51.873Z,1629056271.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:51.873Z,1629056271.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:51.874Z,1629056271.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:52.233Z,1629056272.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,002C6,184,80,80,CE,FF
2021-08-15T19:37:52.233Z,1629056272.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:52.233Z,1629056272.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:52.235Z,1629056272.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:52.657Z,1629056272.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:53.046Z,1629056273.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,002FD,187,80,80,2F,FF
2021-08-15T19:37:53.049Z,1629056273.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:53.118Z,1629056273.118 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:53.483Z,1629056273.483 [Micromodem](INFO): Nmea in: $SNTTA,0.028393,,,,193753.41*4C

2021-08-15T19:37:53.502Z,1629056273.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 46.738301 deg, deltaT: 4.473339 s, approachRate: 0.737704 m/s, LOS rate: -0.783143 deg/s, posRepo size: 4
2021-08-15T19:37:55.961Z,1629056275.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:37:56.277Z,1629056276.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:37:56.277Z,1629056276.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:37:56.277Z,1629056276.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:37:56.278Z,1629056276.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:37:56.693Z,1629056276.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,002FD,187,80,80,2F,FF
2021-08-15T19:37:56.693Z,1629056276.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:37:56.693Z,1629056276.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:37:56.695Z,1629056276.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:37:57.080Z,1629056277.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:37:57.494Z,1629056277.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,0031D,186,80,80,65,FF
2021-08-15T19:37:57.495Z,1629056277.495 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:37:57.541Z,1629056277.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:37:57.927Z,1629056277.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193757.87*5F

2021-08-15T19:37:58.017Z,1629056278.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 60.505934 deg, deltaT: 4.422058 s, approachRate: 0.434187 m/s, LOS rate: 3.113399 deg/s, posRepo size: 4
2021-08-15T19:38:00.355Z,1629056280.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:00.716Z,1629056280.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:00.716Z,1629056280.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:00.717Z,1629056280.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:00.718Z,1629056280.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:01.121Z,1629056281.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,0031D,186,80,80,65,FF
2021-08-15T19:38:01.121Z,1629056281.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:01.121Z,1629056281.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:01.123Z,1629056281.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:01.534Z,1629056281.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:01.930Z,1629056281.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0032E,186,80,80,71,FF
2021-08-15T19:38:01.930Z,1629056281.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:01.970Z,1629056281.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:02.388Z,1629056282.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193802.30*5C

2021-08-15T19:38:02.431Z,1629056282.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 51.911350 deg, deltaT: 4.429195 s, approachRate: 0.230290 m/s, LOS rate: -1.940439 deg/s, posRepo size: 4
2021-08-15T19:38:04.823Z,1629056284.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:05.157Z,1629056285.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:05.157Z,1629056285.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:05.157Z,1629056285.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:05.158Z,1629056285.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:05.561Z,1629056285.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0032E,186,80,80,71,FF
2021-08-15T19:38:05.561Z,1629056285.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:05.561Z,1629056285.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:05.563Z,1629056285.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:05.984Z,1629056285.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:06.369Z,1629056286.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00365,187,80,80,7F,FF
2021-08-15T19:38:06.369Z,1629056286.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:06.462Z,1629056286.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:06.829Z,1629056286.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193806.74*58

2021-08-15T19:38:06.855Z,1629056286.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.639997 m, bearing: 66.987941 deg, deltaT: 4.491984 s, approachRate: 0.734642 m/s, LOS rate: 3.356332 deg/s, posRepo size: 4
2021-08-15T19:38:06.855Z,1629056286.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.64 m. Rolling out.
2021-08-15T19:38:06.855Z,1629056286.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T19:38:07.226Z,1629056287.226 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T19:38:07.226Z,1629056287.226 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T19:38:07.226Z,1629056287.226 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T19:38:07.227Z,1629056287.227 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T19:38:07.227Z,1629056287.227 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T19:38:07.227Z,1629056287.227 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T19:38:07.227Z,1629056287.227 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T19:38:09.240Z,1629056289.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:09.605Z,1629056289.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:09.606Z,1629056289.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:09.606Z,1629056289.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:09.607Z,1629056289.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:10.029Z,1629056290.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00365,187,80,80,7F,FF
2021-08-15T19:38:10.029Z,1629056290.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:10.030Z,1629056290.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:10.031Z,1629056290.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:10.448Z,1629056290.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:10.837Z,1629056290.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,0038D,187,80,80,93,FF
2021-08-15T19:38:10.838Z,1629056290.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:10.887Z,1629056290.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:11.288Z,1629056291.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193811.21*5E

2021-08-15T19:38:11.343Z,1629056291.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.039999 m, bearing: 59.827505 deg, deltaT: 4.429987 s, approachRate: 0.541763 m/s, LOS rate: -1.616356 deg/s, posRepo size: 4
2021-08-15T19:38:12.877Z,1629056292.877 [PowerOnly](INFO): Powering down loadControl
2021-08-15T19:38:13.698Z,1629056293.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:14.073Z,1629056294.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:14.073Z,1629056294.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:14.073Z,1629056294.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:14.074Z,1629056294.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:14.479Z,1629056294.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,0038D,187,80,80,93,FF
2021-08-15T19:38:14.479Z,1629056294.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:14.479Z,1629056294.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:14.483Z,1629056294.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:14.884Z,1629056294.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:15.294Z,1629056295.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,003AD,187,80,80,57,FF
2021-08-15T19:38:15.294Z,1629056295.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:15.385Z,1629056295.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:15.713Z,1629056295.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193815.66*59

2021-08-15T19:38:15.765Z,1629056295.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 57.679377 deg, deltaT: 4.492909 s, approachRate: 0.427341 m/s, LOS rate: -0.478115 deg/s, posRepo size: 4
2021-08-15T19:38:18.209Z,1629056298.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:18.521Z,1629056298.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:18.521Z,1629056298.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:18.521Z,1629056298.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:18.522Z,1629056298.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:18.929Z,1629056298.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,003AD,187,80,80,57,FF
2021-08-15T19:38:18.929Z,1629056298.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:18.929Z,1629056298.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:18.931Z,1629056298.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:19.345Z,1629056299.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:19.729Z,1629056299.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,003A9,186,80,80,7F,FF
2021-08-15T19:38:19.730Z,1629056299.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:19.857Z,1629056299.857 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:20.145Z,1629056300.145 [Micromodem](INFO): Nmea in: $SNTTA,0.050426,0.340476,,,193820.11*58

2021-08-15T19:38:20.168Z,1629056300.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 42.027800 deg, deltaT: 4.472207 s, approachRate: -0.053665 m/s, LOS rate: -3.499743 deg/s, posRepo size: 4
2021-08-15T19:38:22.600Z,1629056302.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:22.953Z,1629056302.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:22.953Z,1629056302.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:22.953Z,1629056302.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:22.954Z,1629056302.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:23.385Z,1629056303.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,003A9,186,80,80,7F,FF
2021-08-15T19:38:23.385Z,1629056303.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:23.385Z,1629056303.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:23.387Z,1629056303.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:23.773Z,1629056303.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:24.165Z,1629056304.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,003D9,186,80,80,56,FF
2021-08-15T19:38:24.166Z,1629056304.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:24.185Z,1629056304.185 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:24.601Z,1629056304.601 [Micromodem](INFO): Nmea in: $SNTTA,0.039235,,,,193824.57*49

2021-08-15T19:38:24.645Z,1629056304.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 58.129404 deg, deltaT: 4.327970 s, approachRate: 0.665439 m/s, LOS rate: 3.720360 deg/s, posRepo size: 4
2021-08-15T19:38:27.014Z,1629056307.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:27.425Z,1629056307.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:27.425Z,1629056307.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:27.425Z,1629056307.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:27.426Z,1629056307.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:27.832Z,1629056307.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,003D9,186,80,80,56,FF
2021-08-15T19:38:27.833Z,1629056307.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:27.833Z,1629056307.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:27.843Z,1629056307.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:28.214Z,1629056308.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:28.609Z,1629056308.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,003DB,183,80,80,63,FF
2021-08-15T19:38:28.609Z,1629056308.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:28.663Z,1629056308.663 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:29.043Z,1629056309.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193829.03*55

2021-08-15T19:38:29.085Z,1629056309.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 49.836031 deg, deltaT: 4.486884 s, approachRate: 0.026745 m/s, LOS rate: -1.848359 deg/s, posRepo size: 4
2021-08-15T19:38:31.464Z,1629056311.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:31.885Z,1629056311.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:31.886Z,1629056311.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:31.886Z,1629056311.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:31.887Z,1629056311.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:32.245Z,1629056312.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,003DB,183,80,80,63,FF
2021-08-15T19:38:32.245Z,1629056312.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:32.245Z,1629056312.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:32.247Z,1629056312.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:32.662Z,1629056312.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:33.053Z,1629056313.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,003DB,187,80,80,5A,FF
2021-08-15T19:38:33.053Z,1629056313.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:33.111Z,1629056313.111 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:33.494Z,1629056313.494 [Micromodem](INFO): Nmea in: $SNTTA,0.045210,,,,193833.42*47

2021-08-15T19:38:33.519Z,1629056313.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 59.690608 deg, deltaT: 4.439412 s, approachRate: 0.000000 m/s, LOS rate: 2.219793 deg/s, posRepo size: 4
2021-08-15T19:38:35.949Z,1629056315.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:36.286Z,1629056316.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:36.286Z,1629056316.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:36.286Z,1629056316.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:36.287Z,1629056316.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:36.693Z,1629056316.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,003DB,187,80,80,5A,FF
2021-08-15T19:38:36.693Z,1629056316.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:36.694Z,1629056316.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:36.695Z,1629056316.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:37.097Z,1629056317.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:37.493Z,1629056317.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,003E2,186,80,80,6D,FF
2021-08-15T19:38:37.494Z,1629056317.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:37.543Z,1629056317.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:37.941Z,1629056317.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193837.88*59

2021-08-15T19:38:37.976Z,1629056317.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 57.888886 deg, deltaT: 4.431994 s, approachRate: 0.094765 m/s, LOS rate: -0.406526 deg/s, posRepo size: 4
2021-08-15T19:38:40.408Z,1629056320.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:40.729Z,1629056320.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:40.729Z,1629056320.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:40.729Z,1629056320.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:40.730Z,1629056320.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:41.133Z,1629056321.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,003E2,186,80,80,6D,FF
2021-08-15T19:38:41.133Z,1629056321.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:41.133Z,1629056321.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:41.135Z,1629056321.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:41.540Z,1629056321.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:41.945Z,1629056321.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,003FB,187,80,80,83,FF
2021-08-15T19:38:41.945Z,1629056321.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:42.016Z,1629056322.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:42.396Z,1629056322.396 [Micromodem](INFO): Nmea in: $SNTTA,0.277915,,,,193842.32*4B

2021-08-15T19:38:42.422Z,1629056322.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 57.828036 deg, deltaT: 4.473071 s, approachRate: 0.335339 m/s, LOS rate: -0.013604 deg/s, posRepo size: 4
2021-08-15T19:38:44.806Z,1629056324.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:45.173Z,1629056325.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:45.173Z,1629056325.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:45.173Z,1629056325.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:45.174Z,1629056325.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:45.577Z,1629056325.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,003FB,187,80,80,83,FF
2021-08-15T19:38:45.577Z,1629056325.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:45.577Z,1629056325.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:45.579Z,1629056325.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:45.998Z,1629056325.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:46.405Z,1629056326.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,003E4,184,80,80,68,FF
2021-08-15T19:38:46.406Z,1629056326.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:46.485Z,1629056326.485 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:46.830Z,1629056326.830 [Micromodem](INFO): Nmea in: $SNTTA,0.063562,,,,193846.76*44

2021-08-15T19:38:46.853Z,1629056326.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 51.877025 deg, deltaT: 4.469468 s, approachRate: -0.308761 m/s, LOS rate: -1.331481 deg/s, posRepo size: 4
2021-08-15T19:38:49.251Z,1629056329.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:49.621Z,1629056329.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:49.622Z,1629056329.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:49.622Z,1629056329.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:49.623Z,1629056329.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:50.021Z,1629056330.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,003E4,184,80,80,68,FF
2021-08-15T19:38:50.021Z,1629056330.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:50.021Z,1629056330.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:50.023Z,1629056330.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:50.447Z,1629056330.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:50.829Z,1629056330.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,003F3,185,80,80,8E,FF
2021-08-15T19:38:50.829Z,1629056330.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:50.886Z,1629056330.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:51.277Z,1629056331.277 [Micromodem](INFO): Nmea in: $SNTTA,0.058235,,,,193851.21*4D

2021-08-15T19:38:51.306Z,1629056331.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 54.168919 deg, deltaT: 4.400722 s, approachRate: 0.204511 m/s, LOS rate: 0.520800 deg/s, posRepo size: 4
2021-08-15T19:38:53.707Z,1629056333.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:54.061Z,1629056334.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:54.061Z,1629056334.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:54.061Z,1629056334.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:54.062Z,1629056334.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:54.485Z,1629056334.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,003F3,185,80,80,8E,FF
2021-08-15T19:38:54.485Z,1629056334.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:54.485Z,1629056334.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:54.487Z,1629056334.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:54.897Z,1629056334.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:55.309Z,1629056335.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,003F7,186,80,80,86,FF
2021-08-15T19:38:55.310Z,1629056335.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:55.331Z,1629056335.331 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:38:55.733Z,1629056335.733 [Micromodem](INFO): Nmea in: $SNTTA,0.030451,,,,193855.67*41

2021-08-15T19:38:55.760Z,1629056335.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 58.193273 deg, deltaT: 4.444633 s, approachRate: 0.053998 m/s, LOS rate: 0.905441 deg/s, posRepo size: 4
2021-08-15T19:38:58.205Z,1629056338.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:38:58.544Z,1629056338.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:38:58.544Z,1629056338.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:38:58.545Z,1629056338.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:38:58.546Z,1629056338.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:38:58.933Z,1629056338.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,003F7,186,80,80,86,FF
2021-08-15T19:38:58.933Z,1629056338.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:38:58.933Z,1629056338.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:38:58.935Z,1629056338.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:38:59.363Z,1629056339.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:38:59.733Z,1629056339.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,003FC,187,80,80,34,FF
2021-08-15T19:38:59.733Z,1629056339.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:38:59.822Z,1629056339.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:00.162Z,1629056340.162 [Micromodem](INFO): Nmea in: $SNTTA,0.065072,0.379635,,,193900.11*57

2021-08-15T19:39:00.210Z,1629056340.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.700001 m, bearing: 66.544108 deg, deltaT: 4.491729 s, approachRate: 0.066789 m/s, LOS rate: 1.859158 deg/s, posRepo size: 4
2021-08-15T19:39:02.615Z,1629056342.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:02.977Z,1629056342.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:02.977Z,1629056342.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:02.977Z,1629056342.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:02.978Z,1629056342.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:03.392Z,1629056343.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,003FC,187,80,80,34,FF
2021-08-15T19:39:03.393Z,1629056343.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:03.393Z,1629056343.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:03.395Z,1629056343.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:03.838Z,1629056343.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:04.214Z,1629056344.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,00400,187,80,80,1D,FF
2021-08-15T19:39:04.215Z,1629056344.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:04.219Z,1629056344.219 [Micromodem](INFO): Nmea in: $SNTTA,0.142426,0.143532,,,193904.58*50

2021-08-15T19:39:04.244Z,1629056344.244 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:04.642Z,1629056344.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 40.961901 deg, deltaT: 4.421301 s, approachRate: 0.054282 m/s, LOS rate: -5.786126 deg/s, posRepo size: 4
2021-08-15T19:39:07.049Z,1629056347.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:07.453Z,1629056347.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:07.453Z,1629056347.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:07.453Z,1629056347.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:07.454Z,1629056347.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:07.873Z,1629056347.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,00400,187,80,80,1D,FF
2021-08-15T19:39:07.873Z,1629056347.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:07.873Z,1629056347.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:07.875Z,1629056347.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:08.272Z,1629056348.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:09.088Z,1629056349.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193909.05*50

2021-08-15T19:39:09.947Z,1629056349.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:11.485Z,1629056351.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,1D,FF
2021-08-15T19:39:11.486Z,1629056351.486 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,1D,FF
2021-08-15T19:39:11.486Z,1629056351.486 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:39:12.747Z,1629056352.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:13.116Z,1629056353.116 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:13.116Z,1629056353.116 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:13.118Z,1629056353.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:13.148Z,1629056353.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:13.153Z,1629056353.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,1D,FF
2021-08-15T19:39:13.153Z,1629056353.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:13.154Z,1629056353.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:13.159Z,1629056353.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:13.513Z,1629056353.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:13.951Z,1629056353.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,003FB,186,80,80,81,FF
2021-08-15T19:39:13.951Z,1629056353.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:13.993Z,1629056353.993 [Micromodem](INFO): Nmea in: $SNTTA,0.040896,0.266403,,,193914.34*58

2021-08-15T19:39:14.084Z,1629056354.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:14.402Z,1629056354.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 70.606732 deg, deltaT: 9.839814 s, approachRate: -0.030488 m/s, LOS rate: 3.012743 deg/s, posRepo size: 4
2021-08-15T19:39:16.758Z,1629056356.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:17.145Z,1629056357.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:17.145Z,1629056357.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:17.145Z,1629056357.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:17.146Z,1629056357.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:17.558Z,1629056357.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,003FB,186,80,80,81,FF
2021-08-15T19:39:17.558Z,1629056357.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:17.558Z,1629056357.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:17.560Z,1629056357.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:17.956Z,1629056357.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:18.385Z,1629056358.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00405,186,80,80,8A,FF
2021-08-15T19:39:18.386Z,1629056358.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:18.462Z,1629056358.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:18.801Z,1629056358.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193918.74*56

2021-08-15T19:39:18.853Z,1629056358.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 65.431341 deg, deltaT: 4.378452 s, approachRate: 0.137035 m/s, LOS rate: -1.182014 deg/s, posRepo size: 4
2021-08-15T19:39:21.218Z,1629056361.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:21.589Z,1629056361.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:21.589Z,1629056361.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:21.589Z,1629056361.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:21.590Z,1629056361.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:21.993Z,1629056361.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00405,186,80,80,8A,FF
2021-08-15T19:39:21.993Z,1629056361.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:21.993Z,1629056361.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:21.995Z,1629056361.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:22.436Z,1629056362.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:22.804Z,1629056362.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00405,186,80,80,67,FF
2021-08-15T19:39:22.805Z,1629056362.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:22.847Z,1629056362.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:23.249Z,1629056363.249 [Micromodem](INFO): Nmea in: $SNTTA,0.038975,,,,193923.18*4A

2021-08-15T19:39:23.271Z,1629056363.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 66.942602 deg, deltaT: 4.384682 s, approachRate: 0.000000 m/s, LOS rate: 0.344668 deg/s, posRepo size: 4
2021-08-15T19:39:25.661Z,1629056365.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:26.053Z,1629056366.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:26.053Z,1629056366.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:26.053Z,1629056366.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:26.054Z,1629056366.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:26.449Z,1629056366.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00405,186,80,80,67,FF
2021-08-15T19:39:26.449Z,1629056366.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:26.449Z,1629056366.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:26.451Z,1629056366.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:26.857Z,1629056366.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:27.249Z,1629056367.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00406,186,80,80,73,FF
2021-08-15T19:39:27.249Z,1629056367.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:27.305Z,1629056367.305 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:27.685Z,1629056367.685 [Micromodem](INFO): Nmea in: $SNTTA,0.033200,,,,193927.63*40

2021-08-15T19:39:27.722Z,1629056367.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 65.834233 deg, deltaT: 4.457736 s, approachRate: 0.013460 m/s, LOS rate: -0.248639 deg/s, posRepo size: 4
2021-08-15T19:39:30.123Z,1629056370.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:30.477Z,1629056370.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:30.477Z,1629056370.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:30.478Z,1629056370.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:30.479Z,1629056370.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:30.886Z,1629056370.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00406,186,80,80,73,FF
2021-08-15T19:39:30.886Z,1629056370.886 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:30.886Z,1629056370.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:30.888Z,1629056370.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:31.291Z,1629056371.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:31.689Z,1629056371.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,003FE,186,80,80,76,FF
2021-08-15T19:39:31.689Z,1629056371.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:31.719Z,1629056371.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:32.121Z,1629056372.121 [Micromodem](INFO): Nmea in: $SNTTA,0.032368,0.362489,,,193932.07*54

2021-08-15T19:39:32.178Z,1629056372.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 70.431777 deg, deltaT: 4.414325 s, approachRate: -0.108738 m/s, LOS rate: 1.041505 deg/s, posRepo size: 4
2021-08-15T19:39:34.543Z,1629056374.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:34.933Z,1629056374.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:34.933Z,1629056374.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:34.933Z,1629056374.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:34.934Z,1629056374.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:35.334Z,1629056375.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,003FE,186,80,80,76,FF
2021-08-15T19:39:35.334Z,1629056375.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:35.334Z,1629056375.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:35.336Z,1629056375.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:35.733Z,1629056375.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:36.149Z,1629056376.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00406,186,80,80,81,FF
2021-08-15T19:39:36.149Z,1629056376.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:36.226Z,1629056376.226 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:36.585Z,1629056376.585 [Micromodem](INFO): Nmea in: $SNTTA,0.065544,,,,193936.51*45

2021-08-15T19:39:36.608Z,1629056376.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 63.410254 deg, deltaT: 4.506733 s, approachRate: 0.106508 m/s, LOS rate: -1.558007 deg/s, posRepo size: 4
2021-08-15T19:39:38.994Z,1629056378.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:39.392Z,1629056379.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:39.393Z,1629056379.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:39.393Z,1629056379.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:39.394Z,1629056379.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:39.777Z,1629056379.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00406,186,80,80,81,FF
2021-08-15T19:39:39.777Z,1629056379.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:39.777Z,1629056379.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:39.782Z,1629056379.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:40.188Z,1629056380.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:41.026Z,1629056381.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193940.96*57

2021-08-15T19:39:41.880Z,1629056381.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:43.429Z,1629056383.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,81,FF
2021-08-15T19:39:43.429Z,1629056383.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,81,FF
2021-08-15T19:39:43.429Z,1629056383.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:39:44.660Z,1629056384.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:45.037Z,1629056385.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:45.037Z,1629056385.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:45.038Z,1629056385.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:45.038Z,1629056385.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:45.441Z,1629056385.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,81,FF
2021-08-15T19:39:45.441Z,1629056385.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:45.441Z,1629056385.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:45.443Z,1629056385.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:45.880Z,1629056385.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:46.245Z,1629056386.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,0040C,187,80,80,31,FF
2021-08-15T19:39:46.246Z,1629056386.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:46.299Z,1629056386.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:46.685Z,1629056386.685 [Micromodem](INFO): Nmea in: $SNTTA,,0.122471,,,193946.62*47

2021-08-15T19:39:46.711Z,1629056386.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 82.048945 deg, deltaT: 10.073187 s, approachRate: 0.035738 m/s, LOS rate: 1.850327 deg/s, posRepo size: 4
2021-08-15T19:39:49.105Z,1629056389.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:49.473Z,1629056389.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:49.473Z,1629056389.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:49.473Z,1629056389.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:49.474Z,1629056389.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:49.897Z,1629056389.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,0040C,187,80,80,31,FF
2021-08-15T19:39:49.897Z,1629056389.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:49.898Z,1629056389.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:49.899Z,1629056389.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:50.282Z,1629056390.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:50.681Z,1629056390.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00408,186,80,80,86,FF
2021-08-15T19:39:50.682Z,1629056390.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:50.735Z,1629056390.735 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:51.117Z,1629056391.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,193951.08*50

2021-08-15T19:39:51.159Z,1629056391.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 82.632496 deg, deltaT: 4.440514 s, approachRate: -0.054047 m/s, LOS rate: 0.131415 deg/s, posRepo size: 4
2021-08-15T19:39:53.542Z,1629056393.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:53.925Z,1629056393.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:53.925Z,1629056393.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:53.926Z,1629056393.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:53.927Z,1629056393.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:54.325Z,1629056394.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00408,186,80,80,86,FF
2021-08-15T19:39:54.325Z,1629056394.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:54.325Z,1629056394.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:54.327Z,1629056394.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:54.733Z,1629056394.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:55.129Z,1629056395.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,00412,189,80,80,6D,FF
2021-08-15T19:39:55.130Z,1629056395.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:55.204Z,1629056395.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:55.571Z,1629056395.571 [Micromodem](INFO): Nmea in: $SNTTA,0.052099,,,,193955.51*41

2021-08-15T19:39:55.586Z,1629056395.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 87.401812 deg, deltaT: 4.464400 s, approachRate: 0.134396 m/s, LOS rate: 1.068299 deg/s, posRepo size: 4
2021-08-15T19:39:58.022Z,1629056398.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:39:58.386Z,1629056398.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:39:58.387Z,1629056398.387 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:39:58.387Z,1629056398.387 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:39:58.388Z,1629056398.388 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:39:58.773Z,1629056398.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,00412,189,80,80,6D,FF
2021-08-15T19:39:58.773Z,1629056398.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:39:58.773Z,1629056398.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:39:58.775Z,1629056398.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:39:59.173Z,1629056399.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:39:59.581Z,1629056399.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19D,000,00405,185,80,80,51,FF
2021-08-15T19:39:59.582Z,1629056399.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:39:59.635Z,1629056399.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:39:59.993Z,1629056399.993 [Micromodem](INFO): Nmea in: $SNTTA,0.457442,0.457617,,,193959.96*5D

2021-08-15T19:40:00.049Z,1629056400.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 39.826816 deg, deltaT: 4.430927 s, approachRate: -0.176036 m/s, LOS rate: -10.737030 deg/s, posRepo size: 4
2021-08-15T19:40:02.422Z,1629056402.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:02.817Z,1629056402.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:02.817Z,1629056402.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:02.817Z,1629056402.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:02.819Z,1629056402.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:03.237Z,1629056403.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19D,000,00405,185,80,80,51,FF
2021-08-15T19:40:03.237Z,1629056403.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:03.237Z,1629056403.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:03.239Z,1629056403.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:03.635Z,1629056403.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:04.021Z,1629056404.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,003F8,18A,80,80,2C,FF
2021-08-15T19:40:04.022Z,1629056404.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:04.138Z,1629056404.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:04.450Z,1629056404.450 [Micromodem](INFO): Nmea in: $SNTTA,0.041420,,,,194004.42*4D

2021-08-15T19:40:04.470Z,1629056404.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.459999 m, bearing: 91.528729 deg, deltaT: 4.503196 s, approachRate: -0.173210 m/s, LOS rate: 11.481160 deg/s, posRepo size: 4
2021-08-15T19:40:06.903Z,1629056406.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:07.250Z,1629056407.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:07.250Z,1629056407.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:07.251Z,1629056407.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:07.252Z,1629056407.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:07.662Z,1629056407.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,003F8,18A,80,80,2C,FF
2021-08-15T19:40:07.662Z,1629056407.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:07.662Z,1629056407.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:07.669Z,1629056407.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:08.069Z,1629056408.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:08.476Z,1629056408.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,00400,189,80,80,67,FF
2021-08-15T19:40:08.476Z,1629056408.476 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:08.544Z,1629056408.544 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:08.913Z,1629056408.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194008.85*57

2021-08-15T19:40:08.931Z,1629056408.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 93.620235 deg, deltaT: 4.406234 s, approachRate: 0.108936 m/s, LOS rate: 0.474670 deg/s, posRepo size: 4
2021-08-15T19:40:11.327Z,1629056411.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:11.697Z,1629056411.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:11.697Z,1629056411.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:11.697Z,1629056411.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:11.698Z,1629056411.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:12.105Z,1629056412.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,00400,189,80,80,67,FF
2021-08-15T19:40:12.105Z,1629056412.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:12.105Z,1629056412.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:12.107Z,1629056412.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:12.517Z,1629056412.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:12.929Z,1629056412.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,003F6,18A,80,80,2D,FF
2021-08-15T19:40:12.929Z,1629056412.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:12.959Z,1629056412.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:13.356Z,1629056413.356 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194013.29*5B

2021-08-15T19:40:13.385Z,1629056413.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 98.644898 deg, deltaT: 4.414497 s, approachRate: -0.135916 m/s, LOS rate: 1.138219 deg/s, posRepo size: 4
2021-08-15T19:40:15.838Z,1629056415.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:16.149Z,1629056416.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:16.149Z,1629056416.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:16.149Z,1629056416.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:16.150Z,1629056416.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:16.551Z,1629056416.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,003F6,18A,80,80,2D,FF
2021-08-15T19:40:16.551Z,1629056416.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:16.551Z,1629056416.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:16.553Z,1629056416.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:16.988Z,1629056416.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:17.413Z,1629056417.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,003FD,186,80,80,78,FF
2021-08-15T19:40:17.414Z,1629056417.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:17.502Z,1629056417.502 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:17.849Z,1629056417.849 [Micromodem](INFO): Nmea in: $SNTTA,0.030098,,,,194017.73*4C

2021-08-15T19:40:17.894Z,1629056417.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 52.618855 deg, deltaT: 4.543253 s, approachRate: 0.092445 m/s, LOS rate: -10.130636 deg/s, posRepo size: 4
2021-08-15T19:40:20.231Z,1629056420.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:20.629Z,1629056420.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:20.629Z,1629056420.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:20.629Z,1629056420.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:20.630Z,1629056420.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:21.017Z,1629056421.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,003FD,186,80,80,78,FF
2021-08-15T19:40:21.017Z,1629056421.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:21.017Z,1629056421.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:21.019Z,1629056421.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:21.435Z,1629056421.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:21.881Z,1629056421.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,003FA,183,80,80,58,FF
2021-08-15T19:40:21.882Z,1629056421.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:21.970Z,1629056421.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:22.266Z,1629056422.266 [Micromodem](INFO): Nmea in: $SNTTA,0.074416,,,,194022.20*4E

2021-08-15T19:40:22.289Z,1629056422.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.580000 m, bearing: 64.039382 deg, deltaT: 4.468434 s, approachRate: -0.040283 m/s, LOS rate: 2.555823 deg/s, posRepo size: 4
2021-08-15T19:40:24.689Z,1629056424.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:25.057Z,1629056425.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:25.057Z,1629056425.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:25.057Z,1629056425.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:25.058Z,1629056425.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:25.461Z,1629056425.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,003FA,183,80,80,58,FF
2021-08-15T19:40:25.461Z,1629056425.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:25.462Z,1629056425.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:25.463Z,1629056425.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:25.892Z,1629056425.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:26.269Z,1629056426.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,003F0,184,80,80,4B,FF
2021-08-15T19:40:26.270Z,1629056426.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:26.330Z,1629056426.330 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:26.701Z,1629056426.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194026.64*54

2021-08-15T19:40:26.746Z,1629056426.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 63.773627 deg, deltaT: 4.359791 s, approachRate: -0.137621 m/s, LOS rate: -0.060956 deg/s, posRepo size: 4
2021-08-15T19:40:29.130Z,1629056429.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:29.509Z,1629056429.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:29.509Z,1629056429.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:29.509Z,1629056429.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:29.510Z,1629056429.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:29.913Z,1629056429.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,003F0,184,80,80,4B,FF
2021-08-15T19:40:29.914Z,1629056429.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:29.914Z,1629056429.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:29.915Z,1629056429.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:30.329Z,1629056430.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:30.722Z,1629056430.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01E,000,003EB,185,80,80,8F,FF
2021-08-15T19:40:30.723Z,1629056430.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:30.741Z,1629056430.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:31.149Z,1629056431.149 [Micromodem](INFO): Nmea in: $SNTTA,0.053967,,,,194031.10*41

2021-08-15T19:40:31.199Z,1629056431.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 66.935997 deg, deltaT: 4.411188 s, approachRate: -0.068010 m/s, LOS rate: 0.716898 deg/s, posRepo size: 4
2021-08-15T19:40:33.568Z,1629056433.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:33.949Z,1629056433.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:33.949Z,1629056433.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:33.950Z,1629056433.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:33.951Z,1629056433.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:34.385Z,1629056434.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01E,000,003EB,185,80,80,8F,FF
2021-08-15T19:40:34.385Z,1629056434.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:34.386Z,1629056434.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:34.393Z,1629056434.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:34.765Z,1629056434.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:35.165Z,1629056435.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,003F6,186,80,80,5A,FF
2021-08-15T19:40:35.165Z,1629056435.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:35.213Z,1629056435.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:35.587Z,1629056435.587 [Micromodem](INFO): Nmea in: $SNTTA,0.028147,,,,194035.57*40

2021-08-15T19:40:35.630Z,1629056435.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 81.134000 deg, deltaT: 4.471485 s, approachRate: 0.147602 m/s, LOS rate: 3.175232 deg/s, posRepo size: 4
2021-08-15T19:40:38.032Z,1629056438.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:38.425Z,1629056438.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:38.425Z,1629056438.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:38.425Z,1629056438.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:38.426Z,1629056438.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:38.793Z,1629056438.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,003F6,186,80,80,5A,FF
2021-08-15T19:40:38.793Z,1629056438.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:38.793Z,1629056438.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:38.795Z,1629056438.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:39.211Z,1629056439.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:39.597Z,1629056439.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,003E8,184,80,80,96,FF
2021-08-15T19:40:39.598Z,1629056439.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:39.647Z,1629056439.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:40.017Z,1629056440.017 [Micromodem](INFO): Nmea in: $SNTTA,0.062925,0.448168,,,194039.98*54

2021-08-15T19:40:40.065Z,1629056440.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 74.172180 deg, deltaT: 4.434143 s, approachRate: -0.189439 m/s, LOS rate: -1.570049 deg/s, posRepo size: 4
2021-08-15T19:40:42.463Z,1629056442.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:42.833Z,1629056442.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:42.833Z,1629056442.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:42.833Z,1629056442.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:42.834Z,1629056442.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:43.265Z,1629056443.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,003E8,184,80,80,96,FF
2021-08-15T19:40:43.265Z,1629056443.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:43.265Z,1629056443.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:43.267Z,1629056443.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:43.653Z,1629056443.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:44.045Z,1629056444.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,003E0,187,80,80,A0,FF
2021-08-15T19:40:44.045Z,1629056444.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:44.135Z,1629056444.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:44.471Z,1629056444.471 [Micromodem](INFO): Nmea in: $SNTTA,,0.085085,,,194044.45*4D

2021-08-15T19:40:44.499Z,1629056444.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 77.538281 deg, deltaT: 4.487832 s, approachRate: -0.106955 m/s, LOS rate: 0.750051 deg/s, posRepo size: 4
2021-08-15T19:40:46.893Z,1629056446.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:47.277Z,1629056447.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:47.277Z,1629056447.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:47.277Z,1629056447.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:47.278Z,1629056447.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:47.681Z,1629056447.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,003E0,187,80,80,A0,FF
2021-08-15T19:40:47.681Z,1629056447.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:47.681Z,1629056447.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:47.683Z,1629056447.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:48.093Z,1629056448.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:48.485Z,1629056448.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6A,000,003E0,186,80,80,AC,FF
2021-08-15T19:40:48.486Z,1629056448.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:48.548Z,1629056448.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:48.917Z,1629056448.917 [Micromodem](INFO): Nmea in: $SNTTA,0.040982,,,,194048.86*49

2021-08-15T19:40:48.939Z,1629056448.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 79.082471 deg, deltaT: 4.413044 s, approachRate: 0.000000 m/s, LOS rate: 0.349915 deg/s, posRepo size: 4
2021-08-15T19:40:51.339Z,1629056451.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:51.725Z,1629056451.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:51.725Z,1629056451.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:51.725Z,1629056451.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:51.726Z,1629056451.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:52.129Z,1629056452.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6A,000,003E0,186,80,80,AC,FF
2021-08-15T19:40:52.129Z,1629056452.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:52.129Z,1629056452.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:52.131Z,1629056452.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:52.533Z,1629056452.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:52.933Z,1629056452.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,003DD,186,80,80,AD,FF
2021-08-15T19:40:52.933Z,1629056452.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:52.981Z,1629056452.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:53.380Z,1629056453.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194053.31*56

2021-08-15T19:40:53.447Z,1629056453.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 80.049059 deg, deltaT: 4.433249 s, approachRate: -0.040602 m/s, LOS rate: 0.218031 deg/s, posRepo size: 4
2021-08-15T19:40:55.851Z,1629056455.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:40:56.165Z,1629056456.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:40:56.165Z,1629056456.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:40:56.165Z,1629056456.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:40:56.166Z,1629056456.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:40:56.581Z,1629056456.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,003DD,186,80,80,AD,FF
2021-08-15T19:40:56.581Z,1629056456.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:40:56.581Z,1629056456.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:40:56.583Z,1629056456.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:40:56.981Z,1629056456.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:40:57.413Z,1629056457.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,003D8,187,80,80,A7,FF
2021-08-15T19:40:57.413Z,1629056457.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:40:57.467Z,1629056457.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:40:57.830Z,1629056457.830 [Micromodem](INFO): Nmea in: $SNTTA,0.040500,,,,194057.77*4F

2021-08-15T19:40:57.894Z,1629056457.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 80.509851 deg, deltaT: 4.485543 s, approachRate: -0.066881 m/s, LOS rate: 0.102728 deg/s, posRepo size: 4
2021-08-15T19:41:00.242Z,1629056460.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:00.625Z,1629056460.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:00.625Z,1629056460.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:00.625Z,1629056460.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:00.626Z,1629056460.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:01.019Z,1629056461.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,003D8,187,80,80,A7,FF
2021-08-15T19:41:01.019Z,1629056461.019 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:01.019Z,1629056461.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:01.021Z,1629056461.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:01.445Z,1629056461.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:01.857Z,1629056461.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,003D2,186,80,80,A5,FF
2021-08-15T19:41:01.857Z,1629056461.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:01.917Z,1629056461.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:02.257Z,1629056462.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194102.20*53

2021-08-15T19:41:02.295Z,1629056462.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 82.289511 deg, deltaT: 4.450193 s, approachRate: -0.080896 m/s, LOS rate: 0.399906 deg/s, posRepo size: 4
2021-08-15T19:41:04.711Z,1629056464.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:05.053Z,1629056465.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:05.053Z,1629056465.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:05.053Z,1629056465.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:05.054Z,1629056465.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:05.466Z,1629056465.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,003D2,186,80,80,A5,FF
2021-08-15T19:41:05.466Z,1629056465.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:05.467Z,1629056465.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:05.470Z,1629056465.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:05.919Z,1629056465.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:06.266Z,1629056466.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,003CD,186,80,80,A6,FF
2021-08-15T19:41:06.267Z,1629056466.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:06.338Z,1629056466.338 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:06.716Z,1629056466.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.879999 m, bearing: 85.429595 deg, deltaT: 4.421650 s, approachRate: -0.067848 m/s, LOS rate: 0.710161 deg/s, posRepo size: 4
2021-08-15T19:41:09.125Z,1629056469.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:09.525Z,1629056469.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:09.525Z,1629056469.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:09.526Z,1629056469.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:09.527Z,1629056469.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:09.909Z,1629056469.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,003CD,186,80,80,A6,FF
2021-08-15T19:41:09.909Z,1629056469.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:09.909Z,1629056469.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:09.911Z,1629056469.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:10.332Z,1629056470.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:10.722Z,1629056470.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003C4,187,80,80,AE,FF
2021-08-15T19:41:10.722Z,1629056470.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:10.771Z,1629056470.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:11.150Z,1629056471.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194111.09*5A

2021-08-15T19:41:11.195Z,1629056471.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 86.288430 deg, deltaT: 4.436971 s, approachRate: -0.121705 m/s, LOS rate: 0.193563 deg/s, posRepo size: 4
2021-08-15T19:41:13.593Z,1629056473.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:13.941Z,1629056473.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:13.941Z,1629056473.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:13.941Z,1629056473.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:13.942Z,1629056473.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:14.366Z,1629056474.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003C4,187,80,80,AE,FF
2021-08-15T19:41:14.366Z,1629056474.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:14.367Z,1629056474.367 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:14.373Z,1629056474.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:14.753Z,1629056474.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:15.158Z,1629056475.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,003BE,187,80,80,AF,FF
2021-08-15T19:41:15.158Z,1629056475.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:15.182Z,1629056475.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:15.571Z,1629056475.571 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194115.56*54

2021-08-15T19:41:15.614Z,1629056475.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 87.282564 deg, deltaT: 4.406344 s, approachRate: -0.081700 m/s, LOS rate: 0.225614 deg/s, posRepo size: 4
2021-08-15T19:41:18.026Z,1629056478.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:18.413Z,1629056478.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:18.413Z,1629056478.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:18.413Z,1629056478.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:18.414Z,1629056478.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:18.789Z,1629056478.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,003BE,187,80,80,AF,FF
2021-08-15T19:41:18.789Z,1629056478.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:18.789Z,1629056478.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:18.791Z,1629056478.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:19.203Z,1629056479.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:19.613Z,1629056479.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,003B7,186,80,80,A4,FF
2021-08-15T19:41:19.613Z,1629056479.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:19.643Z,1629056479.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:20.013Z,1629056480.013 [Micromodem](INFO): Nmea in: $SNTTA,0.035557,0.409364,,,194119.97*58

2021-08-15T19:41:20.064Z,1629056480.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 88.128640 deg, deltaT: 4.461820 s, approachRate: -0.094132 m/s, LOS rate: 0.189626 deg/s, posRepo size: 4
2021-08-15T19:41:22.472Z,1629056482.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:22.829Z,1629056482.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:22.829Z,1629056482.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:22.829Z,1629056482.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:22.830Z,1629056482.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:23.253Z,1629056483.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,003B7,186,80,80,A4,FF
2021-08-15T19:41:23.253Z,1629056483.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:23.253Z,1629056483.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:23.255Z,1629056483.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:23.649Z,1629056483.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:24.041Z,1629056484.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,003B2,186,80,80,A2,FF
2021-08-15T19:41:24.041Z,1629056484.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:24.120Z,1629056484.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:24.478Z,1629056484.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194124.43*52

2021-08-15T19:41:24.507Z,1629056484.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 88.959423 deg, deltaT: 4.476850 s, approachRate: -0.067011 m/s, LOS rate: 0.185573 deg/s, posRepo size: 4
2021-08-15T19:41:26.894Z,1629056486.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:27.269Z,1629056487.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:27.269Z,1629056487.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:27.269Z,1629056487.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:27.270Z,1629056487.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:27.674Z,1629056487.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,003B2,186,80,80,A2,FF
2021-08-15T19:41:27.674Z,1629056487.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:27.674Z,1629056487.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:27.676Z,1629056487.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:28.085Z,1629056488.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:28.490Z,1629056488.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,003AF,187,80,80,AA,FF
2021-08-15T19:41:28.490Z,1629056488.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:28.520Z,1629056488.520 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:28.917Z,1629056488.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194128.86*57

2021-08-15T19:41:28.939Z,1629056488.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 89.530598 deg, deltaT: 4.399468 s, approachRate: -0.040915 m/s, LOS rate: 0.129828 deg/s, posRepo size: 4
2021-08-15T19:41:31.338Z,1629056491.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:31.717Z,1629056491.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:31.717Z,1629056491.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:31.717Z,1629056491.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:31.718Z,1629056491.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:32.130Z,1629056492.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,003AF,187,80,80,AA,FF
2021-08-15T19:41:32.130Z,1629056492.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:32.130Z,1629056492.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:32.132Z,1629056492.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:32.536Z,1629056492.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:32.929Z,1629056492.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,003BC,186,80,80,9C,FF
2021-08-15T19:41:32.930Z,1629056492.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:32.948Z,1629056492.948 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:33.395Z,1629056493.395 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194133.32*52

2021-08-15T19:41:33.421Z,1629056493.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 92.306004 deg, deltaT: 4.428411 s, approachRate: 0.176136 m/s, LOS rate: 0.626727 deg/s, posRepo size: 4
2021-08-15T19:41:35.785Z,1629056495.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:36.165Z,1629056496.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:36.165Z,1629056496.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:36.165Z,1629056496.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:36.166Z,1629056496.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:36.569Z,1629056496.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,003BC,186,80,80,9C,FF
2021-08-15T19:41:36.569Z,1629056496.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:36.569Z,1629056496.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:36.571Z,1629056496.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:36.973Z,1629056496.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:37.401Z,1629056497.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,003A5,186,80,80,9F,FF
2021-08-15T19:41:37.401Z,1629056497.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:37.455Z,1629056497.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:37.844Z,1629056497.844 [Micromodem](INFO): Nmea in: $SNTTA,0.068701,,,,194137.75*43

2021-08-15T19:41:37.890Z,1629056497.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 97.097484 deg, deltaT: 4.511145 s, approachRate: -0.305910 m/s, LOS rate: 1.062143 deg/s, posRepo size: 4
2021-08-15T19:41:40.250Z,1629056500.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:40.605Z,1629056500.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:40.605Z,1629056500.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:40.605Z,1629056500.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:40.606Z,1629056500.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:41.021Z,1629056501.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,003A5,186,80,80,9F,FF
2021-08-15T19:41:41.021Z,1629056501.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:41.021Z,1629056501.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:41.023Z,1629056501.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:41.441Z,1629056501.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:41.843Z,1629056501.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,003A1,186,80,80,A5,FF
2021-08-15T19:41:41.844Z,1629056501.844 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:41.950Z,1629056501.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:42.237Z,1629056502.237 [Micromodem](INFO): Nmea in: $SNTTA,0.032873,0.332105,,,194142.21*5D

2021-08-15T19:41:42.266Z,1629056502.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 98.322704 deg, deltaT: 4.490274 s, approachRate: -0.053448 m/s, LOS rate: 0.272861 deg/s, posRepo size: 4
2021-08-15T19:41:44.692Z,1629056504.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:45.045Z,1629056505.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:45.045Z,1629056505.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:45.045Z,1629056505.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:45.046Z,1629056505.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:45.453Z,1629056505.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,003A1,186,80,80,A5,FF
2021-08-15T19:41:45.454Z,1629056505.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:45.454Z,1629056505.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:45.456Z,1629056505.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:45.889Z,1629056505.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:46.270Z,1629056506.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,0039E,186,80,80,93,FF
2021-08-15T19:41:46.270Z,1629056506.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:46.323Z,1629056506.323 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:46.701Z,1629056506.701 [Micromodem](INFO): Nmea in: $SNTTA,0.027582,,,,194146.64*47

2021-08-15T19:41:46.739Z,1629056506.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 97.444533 deg, deltaT: 4.381533 s, approachRate: -0.041082 m/s, LOS rate: -0.200426 deg/s, posRepo size: 4
2021-08-15T19:41:49.123Z,1629056509.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:49.493Z,1629056509.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:49.493Z,1629056509.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:49.493Z,1629056509.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:49.494Z,1629056509.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:49.901Z,1629056509.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,0039E,186,80,80,93,FF
2021-08-15T19:41:49.901Z,1629056509.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:49.901Z,1629056509.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:49.903Z,1629056509.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:50.318Z,1629056510.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:50.712Z,1629056510.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,003AA,185,80,80,AD,FF
2021-08-15T19:41:50.713Z,1629056510.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:50.742Z,1629056510.742 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:51.149Z,1629056511.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194151.09*5E

2021-08-15T19:41:51.171Z,1629056511.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 98.946410 deg, deltaT: 4.410850 s, approachRate: 0.163234 m/s, LOS rate: 0.340496 deg/s, posRepo size: 4
2021-08-15T19:41:53.561Z,1629056513.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:53.945Z,1629056513.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:53.945Z,1629056513.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:53.945Z,1629056513.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:53.946Z,1629056513.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:54.349Z,1629056514.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,003AA,185,80,80,AD,FF
2021-08-15T19:41:54.349Z,1629056514.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:54.349Z,1629056514.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:54.351Z,1629056514.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:54.757Z,1629056514.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:55.161Z,1629056515.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,003A4,186,80,80,AD,FF
2021-08-15T19:41:55.162Z,1629056515.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:55.224Z,1629056515.224 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:41:55.581Z,1629056515.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194155.53*55

2021-08-15T19:41:55.631Z,1629056515.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 99.239261 deg, deltaT: 4.482342 s, approachRate: -0.080314 m/s, LOS rate: 0.065334 deg/s, posRepo size: 4
2021-08-15T19:41:58.042Z,1629056518.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:41:58.421Z,1629056518.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:41:58.421Z,1629056518.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:41:58.421Z,1629056518.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:41:58.422Z,1629056518.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:41:58.785Z,1629056518.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,003A4,186,80,80,AD,FF
2021-08-15T19:41:58.785Z,1629056518.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:41:58.785Z,1629056518.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:41:58.787Z,1629056518.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:41:59.203Z,1629056519.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:41:59.605Z,1629056519.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8F,000,003A1,186,80,80,B4,FF
2021-08-15T19:41:59.605Z,1629056519.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:41:59.655Z,1629056519.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:42:00.037Z,1629056520.037 [Micromodem](INFO): Nmea in: $SNTTA,0.068331,,,,194159.97*40

2021-08-15T19:42:00.086Z,1629056520.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 98.928405 deg, deltaT: 4.430612 s, approachRate: -0.040626 m/s, LOS rate: -0.070161 deg/s, posRepo size: 4
2021-08-15T19:42:02.484Z,1629056522.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:02.821Z,1629056522.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:02.821Z,1629056522.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:02.821Z,1629056522.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:02.822Z,1629056522.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:03.241Z,1629056523.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8F,000,003A1,186,80,80,B4,FF
2021-08-15T19:42:03.242Z,1629056523.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:03.242Z,1629056523.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:03.245Z,1629056523.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:03.645Z,1629056523.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:42:04.034Z,1629056524.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00389,186,80,80,AC,FF
2021-08-15T19:42:04.035Z,1629056524.035 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:42:04.126Z,1629056524.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:42:04.493Z,1629056524.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 96.344504 deg, deltaT: 4.471348 s, approachRate: -0.322050 m/s, LOS rate: -0.577880 deg/s, posRepo size: 4
2021-08-15T19:42:06.893Z,1629056526.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:07.265Z,1629056527.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:07.265Z,1629056527.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:07.265Z,1629056527.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:07.266Z,1629056527.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:07.677Z,1629056527.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00389,186,80,80,AC,FF
2021-08-15T19:42:07.677Z,1629056527.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:07.677Z,1629056527.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:07.679Z,1629056527.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:09.786Z,1629056529.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:10.505Z,1629056530.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:10.506Z,1629056530.506 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:10.506Z,1629056530.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:12.558Z,1629056532.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:12.925Z,1629056532.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:12.925Z,1629056532.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:12.925Z,1629056532.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:12.926Z,1629056532.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:13.354Z,1629056533.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:13.354Z,1629056533.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:13.355Z,1629056533.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:15.429Z,1629056535.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:16.165Z,1629056536.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:16.165Z,1629056536.165 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:16.165Z,1629056536.165 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:18.230Z,1629056538.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:18.581Z,1629056538.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:18.581Z,1629056538.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:18.581Z,1629056538.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:18.582Z,1629056538.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:18.994Z,1629056538.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:18.994Z,1629056538.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:18.994Z,1629056538.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:18.995Z,1629056538.995 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:21.022Z,1629056541.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:21.861Z,1629056541.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:21.861Z,1629056541.861 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:21.862Z,1629056541.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:23.933Z,1629056543.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:24.237Z,1629056544.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:24.238Z,1629056544.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:24.238Z,1629056544.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:24.239Z,1629056544.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:24.651Z,1629056544.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:24.651Z,1629056544.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:24.651Z,1629056544.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:25.891Z,1629056545.891 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:42:26.708Z,1629056546.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:27.478Z,1629056547.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:27.478Z,1629056547.478 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:27.478Z,1629056547.478 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:29.531Z,1629056549.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:29.893Z,1629056549.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:29.893Z,1629056549.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:29.893Z,1629056549.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:29.894Z,1629056549.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:30.302Z,1629056550.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:30.302Z,1629056550.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:30.302Z,1629056550.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:30.304Z,1629056550.304 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:30.702Z,1629056550.702 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T19:42:30.702Z,1629056550.702 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T19:42:30.702Z,1629056550.702 [Micromodem](ERROR): Hardware Fault
2021-08-15T19:42:30.751Z,1629056550.751 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T19:42:30.752Z,1629056550.752 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T19:42:30.752Z,1629056550.752 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T19:42:30.752Z,1629056550.752 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:42:30.752Z,1629056550.752 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T19:42:30.785Z,1629056550.785 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T19:42:31.110Z,1629056551.110 [Micromodem](INFO): Powering down
2021-08-15T19:42:31.513Z,1629056551.513 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2021-08-15T19:42:31.985Z,1629056551.985 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T19:42:31.986Z,1629056551.986 [Micromodem] No Fault, FailCount= 1
2021-08-15T19:42:32.408Z,1629056552.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:33.133Z,1629056553.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:33.133Z,1629056553.133 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:33.133Z,1629056553.133 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:34.746Z,1629056554.746 [Micromodem](INFO): Powering up
2021-08-15T19:42:34.746Z,1629056554.746 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T19:42:35.162Z,1629056555.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:35.558Z,1629056555.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:35.558Z,1629056555.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:35.558Z,1629056555.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:35.559Z,1629056555.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:35.963Z,1629056555.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:35.963Z,1629056555.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:35.963Z,1629056555.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:37.989Z,1629056557.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:38.785Z,1629056558.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:38.785Z,1629056558.785 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:38.786Z,1629056558.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:39.999Z,1629056559.999 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T19:42:39.999Z,1629056559.999 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T19:42:39.999Z,1629056559.999 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T19:42:40.056Z,1629056560.056 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T19:42:40.528Z,1629056560.528 [RDI_Pathfinder](INFO): Powering down
2021-08-15T19:42:40.579Z,1629056560.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:40.810Z,1629056560.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:40.810Z,1629056560.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:40.810Z,1629056560.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:40.811Z,1629056560.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:41.205Z,1629056561.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:41.205Z,1629056561.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:41.205Z,1629056561.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:41.272Z,1629056561.272 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T19:42:41.272Z,1629056561.272 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T19:42:41.613Z,1629056561.613 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:43.255Z,1629056563.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:44.033Z,1629056564.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:44.033Z,1629056564.033 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:44.034Z,1629056564.034 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:45.907Z,1629056565.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:46.053Z,1629056566.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:46.053Z,1629056566.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:46.053Z,1629056566.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:46.054Z,1629056566.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:46.461Z,1629056566.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:46.462Z,1629056566.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:46.462Z,1629056566.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:48.099Z,1629056568.099 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:42:47.304731Z,RTC,RTC*52

2021-08-15T19:42:48.099Z,1629056568.099 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T19:42:47.304731Z,RTC,RTC*52

2021-08-15T19:42:48.528Z,1629056568.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:49.290Z,1629056569.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:49.291Z,1629056569.291 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:49.291Z,1629056569.291 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:42:51.398Z,1629056571.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:51.709Z,1629056571.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:51.709Z,1629056571.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:51.709Z,1629056571.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:51.710Z,1629056571.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:52.121Z,1629056572.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,AC,FF
2021-08-15T19:42:52.121Z,1629056572.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:52.121Z,1629056572.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:52.982Z,1629056572.982 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:42:53.400Z,1629056573.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:42:53.412Z,1629056573.412 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T19:42:53.770Z,1629056573.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00358,185,80,80,BA,FF
2021-08-15T19:42:53.770Z,1629056573.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:42:53.773Z,1629056573.773 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T19:42:53.773Z,1629056573.773 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T19:42:53.802Z,1629056573.802 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:42:54.213Z,1629056574.213 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T19:42:54.213Z,1629056574.213 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T19:42:54.276Z,1629056574.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 65.944759 deg, deltaT: 49.675554 s, approachRate: -0.059184 m/s, LOS rate: -0.611966 deg/s, posRepo size: 4
2021-08-15T19:42:54.613Z,1629056574.613 [Micromodem](INFO): Nmea in: $SNTTA,0.067343,,,,194254.17*4C

2021-08-15T19:42:54.614Z,1629056574.614 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.067343,,,,194254.17*4C

2021-08-15T19:42:55.809Z,1629056575.809 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T19:42:55.809Z,1629056575.809 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T19:42:56.269Z,1629056576.269 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T19:42:56.269Z,1629056576.269 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T19:42:56.467Z,1629056576.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:56.755Z,1629056576.755 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:42:56.755Z,1629056576.755 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:42:56.755Z,1629056576.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:42:56.756Z,1629056576.756 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:42:56.763Z,1629056576.763 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T19:42:56.771Z,1629056576.771 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T19:42:57.441Z,1629056577.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00358,185,80,80,BA,FF
2021-08-15T19:42:57.441Z,1629056577.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:42:57.441Z,1629056577.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:42:57.443Z,1629056577.443 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T19:42:57.443Z,1629056577.443 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T19:42:57.842Z,1629056577.842 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T19:42:57.842Z,1629056577.842 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T19:42:58.242Z,1629056578.242 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T19:42:58.242Z,1629056578.242 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,19,42,59*4B

2021-08-15T19:42:58.654Z,1629056578.654 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,19,42,59*79

2021-08-15T19:42:58.870Z,1629056578.870 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 395A1961180000005D00000400260000000000000000151D80030C5669C08C79986EB54B4562F2E3A72120EA9BA92C997E8DAF5EA2F451D196CE00
2021-08-15T19:42:58.870Z,1629056578.870 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T19:42:58.978Z,1629056578.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:42:58.979Z,1629056578.979 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T19:42:58.979Z,1629056578.979 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T19:42:58.979Z,1629056578.979 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T19:42:58.979Z,1629056578.979 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:42:58.979Z,1629056578.979 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T19:42:59.186Z,1629056579.186 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T19:42:59.204Z,1629056579.204 [Micromodem](INFO): Nmea in: $CADRQ,194259,1,10,0,64,1*74

2021-08-15T19:42:59.205Z,1629056579.205 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961180000005D00000400260000000000000000151D80030C5669C08C79986EB54B4562F2E3A72120EA9BA92C997E8DAF5EA2F451D196CE00*36

2021-08-15T19:42:59.791Z,1629056579.791 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T19:43:00Z*74

2021-08-15T19:42:59.791Z,1629056579.791 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2021-08-15T19:43:00Z*74

2021-08-15T19:42:59.794Z,1629056579.794 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:43:00.026030Z,USER_CMD,RTC*14

2021-08-15T19:42:59.794Z,1629056579.794 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2021-08-15T19:43:00.026030Z,USER_CMD,RTC*14

2021-08-15T19:43:00.199Z,1629056580.199 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T19:43:00.200Z,1629056580.200 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T19:43:01.434Z,1629056581.434 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T19:43:01.449Z,1629056581.449 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,194300.405048,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*5D

2021-08-15T19:43:01.883Z,1629056581.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:03.028Z,1629056583.028 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.271748
2021-08-15T19:43:03.440Z,1629056583.440 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T19:43:03.448Z,1629056583.448 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815194303.239006,06,32767,45,0107,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.2,2.67,06,0.33,-01,0.16,46,14500,4000*46

2021-08-15T19:43:04.657Z,1629056584.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:05.041Z,1629056585.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:05.041Z,1629056585.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:05.041Z,1629056585.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:05.042Z,1629056585.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:05.442Z,1629056585.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00358,185,80,80,BA,FF
2021-08-15T19:43:05.442Z,1629056585.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:05.442Z,1629056585.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:05.443Z,1629056585.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:05.853Z,1629056585.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:06.245Z,1629056586.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03A,000,0034D,185,80,80,84,FF
2021-08-15T19:43:06.246Z,1629056586.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:06.306Z,1629056586.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:06.690Z,1629056586.690 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194306.63*52

2021-08-15T19:43:06.753Z,1629056586.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 59.971472 deg, deltaT: 12.504510 s, approachRate: -0.052781 m/s, LOS rate: -0.477691 deg/s, posRepo size: 4
2021-08-15T19:43:09.098Z,1629056589.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:09.477Z,1629056589.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:09.477Z,1629056589.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:09.477Z,1629056589.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:09.478Z,1629056589.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:09.881Z,1629056589.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03A,000,0034D,185,80,80,84,FF
2021-08-15T19:43:09.881Z,1629056589.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:09.881Z,1629056589.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:09.883Z,1629056589.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:10.294Z,1629056590.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:10.693Z,1629056590.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,0034A,186,80,80,6F,FF
2021-08-15T19:43:10.693Z,1629056590.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:10.747Z,1629056590.747 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:11.125Z,1629056591.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194311.07*56

2021-08-15T19:43:11.154Z,1629056591.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 70.629852 deg, deltaT: 4.440125 s, approachRate: -0.040539 m/s, LOS rate: 2.400468 deg/s, posRepo size: 4
2021-08-15T19:43:13.557Z,1629056593.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:13.925Z,1629056593.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:13.925Z,1629056593.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:13.925Z,1629056593.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:13.926Z,1629056593.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:14.341Z,1629056594.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,0034A,186,80,80,6F,FF
2021-08-15T19:43:14.341Z,1629056594.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:14.341Z,1629056594.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:14.343Z,1629056594.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:14.740Z,1629056594.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:15.134Z,1629056595.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00343,184,80,80,66,FF
2021-08-15T19:43:15.134Z,1629056595.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:15.178Z,1629056595.178 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:15.565Z,1629056595.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194315.52*52

2021-08-15T19:43:15.618Z,1629056595.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 65.227282 deg, deltaT: 4.431365 s, approachRate: -0.094779 m/s, LOS rate: -1.219166 deg/s, posRepo size: 4
2021-08-15T19:43:18.010Z,1629056598.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:18.425Z,1629056598.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:18.425Z,1629056598.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:18.425Z,1629056598.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:18.426Z,1629056598.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:18.773Z,1629056598.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00343,184,80,80,66,FF
2021-08-15T19:43:18.773Z,1629056598.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:18.773Z,1629056598.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:18.775Z,1629056598.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:19.177Z,1629056599.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:19.581Z,1629056599.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,00355,187,80,80,92,FF
2021-08-15T19:43:19.581Z,1629056599.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:19.635Z,1629056599.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:20.025Z,1629056600.025 [Micromodem](INFO): Nmea in: $SNTTA,0.034792,,,,194319.96*43

2021-08-15T19:43:20.078Z,1629056600.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 74.766249 deg, deltaT: 4.458134 s, approachRate: 0.242254 m/s, LOS rate: 2.139677 deg/s, posRepo size: 4
2021-08-15T19:43:22.463Z,1629056602.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:22.817Z,1629056602.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:22.817Z,1629056602.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:22.817Z,1629056602.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:22.818Z,1629056602.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:23.218Z,1629056603.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,00355,187,80,80,92,FF
2021-08-15T19:43:23.218Z,1629056603.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:23.218Z,1629056603.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:23.219Z,1629056603.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:23.630Z,1629056603.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:24.045Z,1629056604.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0034F,185,80,80,62,FF
2021-08-15T19:43:24.045Z,1629056604.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:24.084Z,1629056604.084 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:24.473Z,1629056604.473 [Micromodem](INFO): Nmea in: $SNTTA,0.030508,,,,194324.40*43

2021-08-15T19:43:24.498Z,1629056604.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 60.610313 deg, deltaT: 4.447937 s, approachRate: -0.080937 m/s, LOS rate: -3.182585 deg/s, posRepo size: 4
2021-08-15T19:43:26.877Z,1629056606.877 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:27.253Z,1629056607.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:27.253Z,1629056607.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:27.253Z,1629056607.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:27.254Z,1629056607.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:27.669Z,1629056607.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0034F,185,80,80,62,FF
2021-08-15T19:43:27.669Z,1629056607.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:27.670Z,1629056607.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:27.676Z,1629056607.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:28.074Z,1629056608.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:28.881Z,1629056608.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194328.86*55

2021-08-15T19:43:29.710Z,1629056609.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,03631,186,80,80,89,FF
2021-08-15T19:43:29.711Z,1629056609.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:29.786Z,1629056609.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:30.115Z,1629056610.115 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T19:43:30.136Z,1629056610.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 794.880066 m, bearing: 73.285034 deg, deltaT: 5.702030 s, approachRate: 137.066986 m/s, LOS rate: 2.222843 deg/s, posRepo size: 4
2021-08-15T19:43:30.531Z,1629056610.531 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:43:30.531Z,1629056610.531 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:43:30.532Z,1629056610.532 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:43:30.533Z,1629056610.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:43:30.533Z,1629056610.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:43:30.533Z,1629056610.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:43:30.926Z,1629056610.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:43:30.926Z,1629056610.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:43:30.926Z,1629056610.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:43:30.926Z,1629056610.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:43:32.544Z,1629056612.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:32.913Z,1629056612.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:32.913Z,1629056612.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:32.913Z,1629056612.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:32.914Z,1629056612.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:33.314Z,1629056613.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,03631,186,80,80,89,FF
2021-08-15T19:43:33.314Z,1629056613.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:33.314Z,1629056613.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:33.316Z,1629056613.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:33.761Z,1629056613.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:34.136Z,1629056614.136 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00343,186,80,80,7D,FF
2021-08-15T19:43:34.137Z,1629056614.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:34.573Z,1629056614.573 [Micromodem](INFO): Nmea in: $SNTTA,,0.027804,,,194334.50*44

2021-08-15T19:43:34.625Z,1629056614.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 76.954341 deg, deltaT: 4.368716 s, approachRate: -179.064072 m/s, LOS rate: 0.839905 deg/s, posRepo size: 4
2021-08-15T19:43:34.986Z,1629056614.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:43:34.986Z,1629056614.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:43:34.986Z,1629056614.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:43:34.986Z,1629056614.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:43:34.987Z,1629056614.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:43:34.987Z,1629056614.987 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:43:35.403Z,1629056615.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:43:35.403Z,1629056615.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:43:35.403Z,1629056615.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:43:35.403Z,1629056615.403 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:43:36.973Z,1629056616.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:37.364Z,1629056617.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:37.365Z,1629056617.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:37.365Z,1629056617.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:37.366Z,1629056617.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:37.769Z,1629056617.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00343,186,80,80,7D,FF
2021-08-15T19:43:37.769Z,1629056617.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:37.770Z,1629056617.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:37.771Z,1629056617.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:38.172Z,1629056618.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:38.569Z,1629056618.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00329,186,80,80,63,FF
2021-08-15T19:43:38.570Z,1629056618.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:38.577Z,1629056618.577 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:43:38.592Z,1629056618.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:39.001Z,1629056619.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194338.95*56

2021-08-15T19:43:39.035Z,1629056619.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 78.469359 deg, deltaT: 4.437635 s, approachRate: -0.351539 m/s, LOS rate: 0.341402 deg/s, posRepo size: 4
2021-08-15T19:43:41.452Z,1629056621.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:41.805Z,1629056621.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:41.805Z,1629056621.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:41.805Z,1629056621.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:41.806Z,1629056621.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:42.201Z,1629056622.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00329,186,80,80,63,FF
2021-08-15T19:43:42.201Z,1629056622.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:42.201Z,1629056622.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:42.203Z,1629056622.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:42.617Z,1629056622.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:43.017Z,1629056623.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE9,000,00324,186,80,80,4E,FF
2021-08-15T19:43:43.017Z,1629056623.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:43.036Z,1629056623.036 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:43.461Z,1629056623.461 [Micromodem](INFO): Nmea in: $SNTTA,0.05694343.39*40

2021-08-15T19:43:43.467Z,1629056623.467 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:43:43.505Z,1629056623.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 78.793841 deg, deltaT: 4.443953 s, approachRate: -0.067507 m/s, LOS rate: 0.073016 deg/s, posRepo size: 4
2021-08-15T19:43:45.950Z,1629056625.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:46.249Z,1629056626.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:46.249Z,1629056626.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:46.250Z,1629056626.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:46.251Z,1629056626.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:46.653Z,1629056626.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE9,000,00324,186,80,80,4E,FF
2021-08-15T19:43:46.653Z,1629056626.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:46.653Z,1629056626.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:46.655Z,1629056626.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:47.052Z,1629056627.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:47.465Z,1629056627.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00320,186,80,80,80,FF
2021-08-15T19:43:47.466Z,1629056627.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:47.495Z,1629056627.495 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:47.885Z,1629056627.885 [Micromodem](INFO): Nmea in: $SNTTA,0.070969,0.416266,,,194347.84*5E

2021-08-15T19:43:47.940Z,1629056627.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.500002 m, bearing: 82.097569 deg, deltaT: 4.458140 s, approachRate: -0.053833 m/s, LOS rate: 0.741055 deg/s, posRepo size: 4
2021-08-15T19:43:48.681Z,1629056628.681 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:43:50.311Z,1629056630.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:50.705Z,1629056630.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:50.705Z,1629056630.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:50.705Z,1629056630.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:50.706Z,1629056630.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:51.085Z,1629056631.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00320,186,80,80,80,FF
2021-08-15T19:43:51.085Z,1629056631.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:51.086Z,1629056631.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:51.087Z,1629056631.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:51.507Z,1629056631.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:51.898Z,1629056631.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,0031D,185,80,80,8C,FF
2021-08-15T19:43:51.898Z,1629056631.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:51.974Z,1629056631.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:52.345Z,1629056632.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194352.27*53

2021-08-15T19:43:52.410Z,1629056632.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 81.149389 deg, deltaT: 4.484909 s, approachRate: -0.040136 m/s, LOS rate: -0.211416 deg/s, posRepo size: 4
2021-08-15T19:43:54.773Z,1629056634.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:55.129Z,1629056635.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:55.129Z,1629056635.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:55.129Z,1629056635.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:55.130Z,1629056635.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:55.542Z,1629056635.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,0031D,185,80,80,8C,FF
2021-08-15T19:43:55.542Z,1629056635.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:55.542Z,1629056635.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:55.545Z,1629056635.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:43:55.952Z,1629056635.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:43:56.355Z,1629056636.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,00318,186,80,80,9B,FF
2021-08-15T19:43:56.357Z,1629056636.357 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:43:56.446Z,1629056636.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:43:56.784Z,1629056636.784 [Micromodem](INFO): Nmea in: $SNTTA,,0.026819,,,194356.73*4C

2021-08-15T19:43:56.803Z,1629056636.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.019998 m, bearing: 84.091827 deg, deltaT: 4.466052 s, approachRate: -0.067173 m/s, LOS rate: 0.658846 deg/s, posRepo size: 4
2021-08-15T19:43:58.427Z,1629056638.427 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T19:43:59.208Z,1629056639.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:43:59.578Z,1629056639.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:43:59.578Z,1629056639.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:43:59.579Z,1629056639.579 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:43:59.580Z,1629056639.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:43:59.985Z,1629056639.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,00318,186,80,80,9B,FF
2021-08-15T19:43:59.986Z,1629056639.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:43:59.986Z,1629056639.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:43:59.987Z,1629056639.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:00.424Z,1629056640.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:00.785Z,1629056640.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00329,187,80,80,67,FF
2021-08-15T19:44:00.786Z,1629056640.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:00.805Z,1629056640.805 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:01.226Z,1629056641.226 [Micromodem](INFO): Nmea in: $SNTTA,0.043235,,,,194401.17*4C

2021-08-15T19:44:01.263Z,1629056641.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 87.817197 deg, deltaT: 4.359031 s, approachRate: 0.233997 m/s, LOS rate: 0.854632 deg/s, posRepo size: 4
2021-08-15T19:44:03.630Z,1629056643.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:04.029Z,1629056644.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:04.029Z,1629056644.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:04.029Z,1629056644.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:04.030Z,1629056644.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:04.433Z,1629056644.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00329,187,80,80,67,FF
2021-08-15T19:44:04.433Z,1629056644.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:04.434Z,1629056644.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:04.435Z,1629056644.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:04.501Z,1629056644.501 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T19:44:04.844Z,1629056644.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:05.229Z,1629056645.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00312,186,80,80,A3,FF
2021-08-15T19:44:05.229Z,1629056645.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:05.249Z,1629056645.249 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:05.691Z,1629056645.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194405.62*57

2021-08-15T19:44:05.755Z,1629056645.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 88.445267 deg, deltaT: 4.444020 s, approachRate: -0.310529 m/s, LOS rate: 0.141329 deg/s, posRepo size: 4
2021-08-15T19:44:07.751Z,1629056647.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:08.062Z,1629056648.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:08.062Z,1629056648.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:08.062Z,1629056648.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:08.063Z,1629056648.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:08.473Z,1629056648.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00312,186,80,80,A3,FF
2021-08-15T19:44:08.473Z,1629056648.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:08.473Z,1629056648.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:08.475Z,1629056648.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:08.877Z,1629056648.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:09.278Z,1629056649.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,0030D,189,80,80,9E,FF
2021-08-15T19:44:09.278Z,1629056649.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:09.366Z,1629056649.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:09.737Z,1629056649.737 [Micromodem](INFO): Nmea in: $SNTTA,0.041069,,,,194409.66*4B

2021-08-15T19:44:09.795Z,1629056649.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 91.796288 deg, deltaT: 4.117872 s, approachRate: -0.072854 m/s, LOS rate: 0.813775 deg/s, posRepo size: 4
2021-08-15T19:44:12.131Z,1629056652.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:12.505Z,1629056652.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:12.505Z,1629056652.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:12.505Z,1629056652.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:12.506Z,1629056652.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:12.905Z,1629056652.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,0030D,189,80,80,9E,FF
2021-08-15T19:44:12.905Z,1629056652.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:12.905Z,1629056652.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:12.907Z,1629056652.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:13.330Z,1629056653.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:13.749Z,1629056653.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,0031A,189,80,80,A5,FF
2021-08-15T19:44:13.749Z,1629056653.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:13.813Z,1629056653.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:14.145Z,1629056654.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194414.09*5A

2021-08-15T19:44:14.180Z,1629056654.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 91.840260 deg, deltaT: 4.446420 s, approachRate: 0.175422 m/s, LOS rate: 0.009889 deg/s, posRepo size: 4
2021-08-15T19:44:16.587Z,1629056656.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:16.945Z,1629056656.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:16.945Z,1629056656.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:16.945Z,1629056656.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:16.946Z,1629056656.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:17.376Z,1629056657.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,0031A,189,80,80,A5,FF
2021-08-15T19:44:17.377Z,1629056657.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:17.378Z,1629056657.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:17.388Z,1629056657.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:17.768Z,1629056657.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:18.157Z,1629056658.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,0031A,189,80,80,A7,FF
2021-08-15T19:44:18.158Z,1629056658.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:18.176Z,1629056658.176 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:18.590Z,1629056658.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194418.57*5D

2021-08-15T19:44:18.627Z,1629056658.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 93.443039 deg, deltaT: 4.363471 s, approachRate: 0.000000 m/s, LOS rate: 0.367317 deg/s, posRepo size: 4
2021-08-15T19:44:21.006Z,1629056661.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:21.421Z,1629056661.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:21.421Z,1629056661.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:21.421Z,1629056661.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:21.422Z,1629056661.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:21.801Z,1629056661.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,0031A,189,80,80,A7,FF
2021-08-15T19:44:21.801Z,1629056661.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:21.801Z,1629056661.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:21.803Z,1629056661.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:22.209Z,1629056662.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:22.601Z,1629056662.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00330,186,80,80,52,FF
2021-08-15T19:44:22.601Z,1629056662.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:22.683Z,1629056662.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:23.045Z,1629056663.045 [Micromodem](INFO): Nmea in: $SNTTA,0.029055,,,,194422.99*43

2021-08-15T19:44:23.076Z,1629056663.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 73.211418 deg, deltaT: 4.506630 s, approachRate: 0.292902 m/s, LOS rate: -4.489301 deg/s, posRepo size: 4
2021-08-15T19:44:25.480Z,1629056665.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:25.837Z,1629056665.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:25.837Z,1629056665.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:25.838Z,1629056665.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:25.838Z,1629056665.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:26.237Z,1629056666.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00330,186,80,80,52,FF
2021-08-15T19:44:26.237Z,1629056666.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:26.237Z,1629056666.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:26.239Z,1629056666.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:26.645Z,1629056666.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:27.049Z,1629056667.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB3,000,00313,185,80,80,20,FF
2021-08-15T19:44:27.049Z,1629056667.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:27.069Z,1629056667.069 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:27.481Z,1629056667.481 [Micromodem](INFO): Nmea in: $SNTTA,0.031227,,,,194427.42*4E

2021-08-15T19:44:27.519Z,1629056667.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 67.731277 deg, deltaT: 4.385719 s, approachRate: -0.396742 m/s, LOS rate: -1.249542 deg/s, posRepo size: 4
2021-08-15T19:44:28.691Z,1629056668.691 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T19:44:29.931Z,1629056669.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:30.285Z,1629056670.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:30.285Z,1629056670.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:30.285Z,1629056670.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:30.286Z,1629056670.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:30.681Z,1629056670.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB3,000,00313,185,80,80,20,FF
2021-08-15T19:44:30.681Z,1629056670.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:30.681Z,1629056670.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:30.683Z,1629056670.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:31.096Z,1629056671.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:31.489Z,1629056671.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,00311,186,80,80,6D,FF
2021-08-15T19:44:31.489Z,1629056671.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:31.554Z,1629056671.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:31.905Z,1629056671.905 [Micromodem](INFO): Nmea in: $SNTTA,0.037569,0.400866,,,194431.87*59

2021-08-15T19:44:31.958Z,1629056671.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 76.615659 deg, deltaT: 4.485440 s, approachRate: -0.026753 m/s, LOS rate: 1.980716 deg/s, posRepo size: 4
2021-08-15T19:44:34.396Z,1629056674.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:34.721Z,1629056674.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:34.721Z,1629056674.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:34.721Z,1629056674.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:34.722Z,1629056674.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:35.125Z,1629056675.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,00311,186,80,80,6D,FF
2021-08-15T19:44:35.125Z,1629056675.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:35.125Z,1629056675.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:35.127Z,1629056675.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:35.537Z,1629056675.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:35.933Z,1629056675.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,0030E,187,80,80,59,FF
2021-08-15T19:44:35.934Z,1629056675.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:36.006Z,1629056676.006 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:36.401Z,1629056676.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194436.31*51

2021-08-15T19:44:36.441Z,1629056676.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 54.196120 deg, deltaT: 4.452319 s, approachRate: -0.040428 m/s, LOS rate: -5.035475 deg/s, posRepo size: 4
2021-08-15T19:44:38.797Z,1629056678.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:39.169Z,1629056679.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:39.169Z,1629056679.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:39.169Z,1629056679.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:39.170Z,1629056679.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:39.569Z,1629056679.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,0030E,187,80,80,59,FF
2021-08-15T19:44:39.569Z,1629056679.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:39.569Z,1629056679.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:39.571Z,1629056679.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:39.981Z,1629056679.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:40.425Z,1629056680.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,0030A,186,80,80,69,FF
2021-08-15T19:44:40.426Z,1629056680.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:40.475Z,1629056680.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:40.826Z,1629056680.826 [Micromodem](INFO): Nmea in: $SNTTA,0.033551,,,,194440.75*4F

2021-08-15T19:44:40.847Z,1629056680.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 56.129296 deg, deltaT: 4.468344 s, approachRate: -0.053711 m/s, LOS rate: 0.432638 deg/s, posRepo size: 4
2021-08-15T19:44:43.238Z,1629056683.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:43.619Z,1629056683.619 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:43.619Z,1629056683.619 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:43.619Z,1629056683.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:43.620Z,1629056683.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:44.024Z,1629056684.024 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,0030A,186,80,80,69,FF
2021-08-15T19:44:44.024Z,1629056684.024 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:44.025Z,1629056684.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:44.026Z,1629056684.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:44.457Z,1629056684.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:44.833Z,1629056684.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,002F1,187,80,80,51,FF
2021-08-15T19:44:44.834Z,1629056684.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:44.852Z,1629056684.852 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:45.269Z,1629056685.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194445.21*54

2021-08-15T19:44:45.316Z,1629056685.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.680000 m, bearing: 55.807724 deg, deltaT: 4.377570 s, approachRate: -0.342656 m/s, LOS rate: -0.073459 deg/s, posRepo size: 4
2021-08-15T19:44:47.737Z,1629056687.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:48.085Z,1629056688.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:48.085Z,1629056688.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:48.085Z,1629056688.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:48.086Z,1629056688.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:48.493Z,1629056688.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,002F1,187,80,80,51,FF
2021-08-15T19:44:48.493Z,1629056688.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:48.493Z,1629056688.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:48.494Z,1629056688.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:48.900Z,1629056688.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:49.306Z,1629056689.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,002ED,186,80,80,7F,FF
2021-08-15T19:44:49.306Z,1629056689.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:49.387Z,1629056689.387 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:49.766Z,1629056689.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194449.68*55

2021-08-15T19:44:49.831Z,1629056689.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 81.716773 deg, deltaT: 4.538968 s, approachRate: -0.052875 m/s, LOS rate: 5.708136 deg/s, posRepo size: 4
2021-08-15T19:44:52.142Z,1629056692.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:52.544Z,1629056692.544 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:52.544Z,1629056692.544 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:52.544Z,1629056692.544 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:52.545Z,1629056692.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:52.929Z,1629056692.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,002ED,186,80,80,7F,FF
2021-08-15T19:44:52.929Z,1629056692.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:52.930Z,1629056692.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:52.931Z,1629056692.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:53.371Z,1629056693.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:53.761Z,1629056693.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,002E5,187,80,80,7C,FF
2021-08-15T19:44:53.762Z,1629056693.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:53.765Z,1629056693.765 [Micromodem](INFO): Nmea in: $SNTTA,0.004279,0.276019,,,194454.12*57

2021-08-15T19:44:53.835Z,1629056693.835 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:54.200Z,1629056694.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 81.620037 deg, deltaT: 4.443288 s, approachRate: -0.108028 m/s, LOS rate: -0.021771 deg/s, posRepo size: 4
2021-08-15T19:44:56.625Z,1629056696.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:44:56.982Z,1629056696.982 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:44:56.982Z,1629056696.982 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:44:56.982Z,1629056696.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:44:56.983Z,1629056696.983 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:44:57.405Z,1629056697.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,002E5,187,80,80,7C,FF
2021-08-15T19:44:57.406Z,1629056697.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:44:57.406Z,1629056697.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:44:57.408Z,1629056697.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:44:57.788Z,1629056697.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:44:58.182Z,1629056698.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,002E4,187,80,80,97,FF
2021-08-15T19:44:58.183Z,1629056698.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:44:58.253Z,1629056698.253 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:44:58.603Z,1629056698.603 [Micromodem](INFO): Nmea in: $SNTTA,0.028002,,,,194458.59*41

2021-08-15T19:44:58.647Z,1629056698.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 82.965290 deg, deltaT: 4.418242 s, approachRate: -0.013580 m/s, LOS rate: 0.304477 deg/s, posRepo size: 4
2021-08-15T19:45:01.030Z,1629056701.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:01.438Z,1629056701.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:01.438Z,1629056701.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:01.438Z,1629056701.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:01.439Z,1629056701.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:01.825Z,1629056701.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,002E4,187,80,80,97,FF
2021-08-15T19:45:01.825Z,1629056701.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:01.825Z,1629056701.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:01.827Z,1629056701.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:02.229Z,1629056702.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:02.625Z,1629056702.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,002FE,186,80,80,BB,FF
2021-08-15T19:45:02.625Z,1629056702.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:02.679Z,1629056702.679 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:03.074Z,1629056703.074 [Micromodem](INFO): Nmea in: $SNTTA,0.061146,,,,194503.01*4F

2021-08-15T19:45:03.128Z,1629056703.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 82.640296 deg, deltaT: 4.434575 s, approachRate: 0.351781 m/s, LOS rate: -0.073286 deg/s, posRepo size: 4
2021-08-15T19:45:05.480Z,1629056705.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:05.873Z,1629056705.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:05.873Z,1629056705.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:05.874Z,1629056705.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:05.875Z,1629056705.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:06.261Z,1629056706.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,002FE,186,80,80,BB,FF
2021-08-15T19:45:06.261Z,1629056706.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:06.261Z,1629056706.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:06.263Z,1629056706.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:06.669Z,1629056706.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:07.081Z,1629056707.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E85,000,002DF,186,80,80,AE,FF
2021-08-15T19:45:07.082Z,1629056707.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:07.132Z,1629056707.132 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:07.522Z,1629056707.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194507.45*51

2021-08-15T19:45:07.547Z,1629056707.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.600000 m, bearing: 77.308951 deg, deltaT: 4.444868 s, approachRate: -0.418460 m/s, LOS rate: -1.199438 deg/s, posRepo size: 4
2021-08-15T19:45:09.945Z,1629056709.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:10.306Z,1629056710.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:10.306Z,1629056710.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:10.306Z,1629056710.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:10.307Z,1629056710.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:10.713Z,1629056710.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E85,000,002DF,186,80,80,AE,FF
2021-08-15T19:45:10.713Z,1629056710.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:10.713Z,1629056710.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:10.715Z,1629056710.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:11.112Z,1629056711.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:11.513Z,1629056711.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,002DD,186,80,80,C8,FF
2021-08-15T19:45:11.514Z,1629056711.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:11.567Z,1629056711.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:11.945Z,1629056711.945 [Micromodem](INFO): Nmea in: $SNTTA,0.384982,,,,194511.90*4C

2021-08-15T19:45:11.999Z,1629056711.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 76.472847 deg, deltaT: 4.434689 s, approachRate: -0.027060 m/s, LOS rate: -0.188537 deg/s, posRepo size: 4
2021-08-15T19:45:14.406Z,1629056714.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:14.745Z,1629056714.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:14.745Z,1629056714.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:14.745Z,1629056714.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:14.746Z,1629056714.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:15.157Z,1629056715.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,002DD,186,80,80,C8,FF
2021-08-15T19:45:15.158Z,1629056715.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:15.158Z,1629056715.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:15.159Z,1629056715.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:15.556Z,1629056715.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:15.957Z,1629056715.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,002D9,186,80,80,C1,FF
2021-08-15T19:45:15.958Z,1629056715.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:15.961Z,1629056715.961 [Micromodem](INFO): Nmea in: $SNTTA,0.032300,0.160350,,,194516.35*55

2021-08-15T19:45:16.027Z,1629056716.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:16.427Z,1629056716.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 77.587281 deg, deltaT: 4.459845 s, approachRate: -0.053813 m/s, LOS rate: 0.249882 deg/s, posRepo size: 4
2021-08-15T19:45:18.801Z,1629056718.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:19.197Z,1629056719.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:19.197Z,1629056719.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:19.197Z,1629056719.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:19.198Z,1629056719.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:19.593Z,1629056719.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,002D9,186,80,80,C1,FF
2021-08-15T19:45:19.593Z,1629056719.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:19.593Z,1629056719.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:19.595Z,1629056719.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:20.001Z,1629056720.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:20.437Z,1629056720.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,002D9,186,80,80,BE,FF
2021-08-15T19:45:20.438Z,1629056720.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:20.449Z,1629056720.449 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T19:45:20.504Z,1629056720.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:20.849Z,1629056720.849 [Micromodem](INFO): Nmea in: $SNTTA,0.077543,,,,194520.78*46

2021-08-15T19:45:20.932Z,1629056720.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 78.678459 deg, deltaT: 4.477465 s, approachRate: 0.000000 m/s, LOS rate: 0.243704 deg/s, posRepo size: 4
2021-08-15T19:45:23.246Z,1629056723.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:23.643Z,1629056723.643 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:23.643Z,1629056723.643 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:23.643Z,1629056723.643 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:23.644Z,1629056723.644 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:24.037Z,1629056724.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,002D9,186,80,80,BE,FF
2021-08-15T19:45:24.037Z,1629056724.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:24.037Z,1629056724.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:24.039Z,1629056724.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:24.445Z,1629056724.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:24.850Z,1629056724.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,002D7,186,80,80,95,FF
2021-08-15T19:45:24.850Z,1629056724.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:24.875Z,1629056724.875 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:25.286Z,1629056725.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194525.23*51

2021-08-15T19:45:25.335Z,1629056725.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 79.223637 deg, deltaT: 4.370239 s, approachRate: -0.027459 m/s, LOS rate: 0.124748 deg/s, posRepo size: 4
2021-08-15T19:45:27.754Z,1629056727.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:28.077Z,1629056728.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:28.077Z,1629056728.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:28.077Z,1629056728.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:28.078Z,1629056728.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:28.514Z,1629056728.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,002D7,186,80,80,95,FF
2021-08-15T19:45:28.514Z,1629056728.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:28.514Z,1629056728.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:28.516Z,1629056728.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:28.893Z,1629056728.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:29.298Z,1629056729.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,002D4,186,80,80,A8,FF
2021-08-15T19:45:29.298Z,1629056729.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:29.369Z,1629056729.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:29.821Z,1629056729.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 74.781364 deg, deltaT: 4.495553 s, approachRate: -0.040039 m/s, LOS rate: -0.988148 deg/s, posRepo size: 4
2021-08-15T19:45:32.157Z,1629056732.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:32.529Z,1629056732.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:32.529Z,1629056732.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:32.529Z,1629056732.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:32.530Z,1629056732.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:32.929Z,1629056732.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,002D4,186,80,80,A8,FF
2021-08-15T19:45:32.930Z,1629056732.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:32.930Z,1629056732.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:32.931Z,1629056732.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:33.363Z,1629056733.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:33.759Z,1629056733.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,002D3,185,80,80,9A,FF
2021-08-15T19:45:33.760Z,1629056733.760 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:33.767Z,1629056733.767 [Micromodem](INFO): Nmea in: $SNTTA,0.314654,0.314285,,,194534.12*5B

2021-08-15T19:45:33.859Z,1629056733.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:34.175Z,1629056734.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 73.336294 deg, deltaT: 4.493278 s, approachRate: -0.013353 m/s, LOS rate: -0.321607 deg/s, posRepo size: 4
2021-08-15T19:45:36.601Z,1629056736.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:36.965Z,1629056736.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:36.965Z,1629056736.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:36.965Z,1629056736.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:36.966Z,1629056736.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:37.381Z,1629056737.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,002D3,185,80,80,9A,FF
2021-08-15T19:45:37.381Z,1629056737.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:37.382Z,1629056737.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:37.385Z,1629056737.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:37.780Z,1629056737.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:38.181Z,1629056738.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,002D3,186,80,80,91,FF
2021-08-15T19:45:38.182Z,1629056738.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:38.200Z,1629056738.200 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:38.617Z,1629056738.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194538.57*5E

2021-08-15T19:45:38.667Z,1629056738.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 74.693788 deg, deltaT: 4.337077 s, approachRate: 0.000000 m/s, LOS rate: 0.312997 deg/s, posRepo size: 4
2021-08-15T19:45:41.026Z,1629056741.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:41.425Z,1629056741.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:41.425Z,1629056741.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:41.425Z,1629056741.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:41.426Z,1629056741.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:41.809Z,1629056741.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,002D3,186,80,80,91,FF
2021-08-15T19:45:41.809Z,1629056741.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:41.810Z,1629056741.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:41.811Z,1629056741.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:42.225Z,1629056742.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:42.617Z,1629056742.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,002D3,186,80,80,A9,FF
2021-08-15T19:45:42.618Z,1629056742.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:42.667Z,1629056742.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:43.070Z,1629056743.070 [Micromodem](INFO): Nmea in: $SNTTA,0.026711,,,,194543.00*4D

2021-08-15T19:45:43.091Z,1629056743.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 74.946873 deg, deltaT: 4.466689 s, approachRate: 0.000000 m/s, LOS rate: 0.056661 deg/s, posRepo size: 4
2021-08-15T19:45:45.496Z,1629056745.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:45.853Z,1629056745.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:45.853Z,1629056745.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:45.853Z,1629056745.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:45.854Z,1629056745.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:46.273Z,1629056746.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,002D3,186,80,80,A9,FF
2021-08-15T19:45:46.273Z,1629056746.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:46.273Z,1629056746.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:46.276Z,1629056746.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:46.669Z,1629056746.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:47.073Z,1629056747.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,002D4,187,80,80,99,FF
2021-08-15T19:45:47.074Z,1629056747.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:47.096Z,1629056747.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:47.502Z,1629056747.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194547.46*56

2021-08-15T19:45:47.527Z,1629056747.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 75.772315 deg, deltaT: 4.429185 s, approachRate: 0.013547 m/s, LOS rate: 0.186364 deg/s, posRepo size: 4
2021-08-15T19:45:49.943Z,1629056749.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:50.319Z,1629056750.319 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:50.319Z,1629056750.319 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:50.319Z,1629056750.319 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:50.320Z,1629056750.320 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:50.701Z,1629056750.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,002D4,187,80,80,99,FF
2021-08-15T19:45:50.701Z,1629056750.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:50.701Z,1629056750.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:50.703Z,1629056750.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:51.119Z,1629056751.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:51.517Z,1629056751.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,002D7,188,80,80,97,FF
2021-08-15T19:45:51.518Z,1629056751.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:51.551Z,1629056751.551 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:51.961Z,1629056751.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194551.89*52

2021-08-15T19:45:52.025Z,1629056752.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 77.925068 deg, deltaT: 4.454563 s, approachRate: 0.040408 m/s, LOS rate: 0.483269 deg/s, posRepo size: 4
2021-08-15T19:45:54.413Z,1629056754.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:54.741Z,1629056754.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:54.741Z,1629056754.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:54.741Z,1629056754.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:54.742Z,1629056754.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:55.158Z,1629056755.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,002D7,188,80,80,97,FF
2021-08-15T19:45:55.158Z,1629056755.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:55.158Z,1629056755.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:55.161Z,1629056755.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:55.561Z,1629056755.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:45:55.954Z,1629056755.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,002D8,187,80,80,92,FF
2021-08-15T19:45:55.954Z,1629056755.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:45:56.039Z,1629056756.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:45:56.409Z,1629056756.409 [Micromodem](INFO): Nmea in: $SNTTA,0.053581,,,,194556.35*46

2021-08-15T19:45:56.439Z,1629056756.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.179999 m, bearing: 76.800402 deg, deltaT: 4.488245 s, approachRate: 0.013368 m/s, LOS rate: -0.250580 deg/s, posRepo size: 4
2021-08-15T19:45:58.818Z,1629056758.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:45:59.185Z,1629056759.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:45:59.185Z,1629056759.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:45:59.185Z,1629056759.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:45:59.186Z,1629056759.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:45:59.589Z,1629056759.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,002D8,187,80,80,92,FF
2021-08-15T19:45:59.589Z,1629056759.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:45:59.589Z,1629056759.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:45:59.591Z,1629056759.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:45:59.997Z,1629056759.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:00.425Z,1629056760.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,002DB,188,80,80,76,FF
2021-08-15T19:46:00.425Z,1629056760.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:00.483Z,1629056760.483 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:00.834Z,1629056760.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194600.78*5B

2021-08-15T19:46:00.863Z,1629056760.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.359998 m, bearing: 89.625606 deg, deltaT: 4.443626 s, approachRate: 0.040507 m/s, LOS rate: 2.886202 deg/s, posRepo size: 4
2021-08-15T19:46:03.242Z,1629056763.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:03.625Z,1629056763.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:03.625Z,1629056763.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:03.625Z,1629056763.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:03.626Z,1629056763.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:04.042Z,1629056764.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,002DB,188,80,80,76,FF
2021-08-15T19:46:04.042Z,1629056764.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:04.042Z,1629056764.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:04.044Z,1629056764.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:04.458Z,1629056764.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:04.845Z,1629056764.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,002F7,186,80,80,47,FF
2021-08-15T19:46:04.845Z,1629056764.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:04.865Z,1629056764.865 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:05.286Z,1629056765.286 [Micromodem](INFO): Nmea in: $SNTTA,0.029307,,,,194605.23*41

2021-08-15T19:46:05.322Z,1629056765.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 40.083290 deg, deltaT: 4.381938 s, approachRate: 0.383392 m/s, LOS rate: -11.306028 deg/s, posRepo size: 4
2021-08-15T19:46:07.766Z,1629056767.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:08.073Z,1629056768.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:08.073Z,1629056768.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:08.073Z,1629056768.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:08.074Z,1629056768.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:08.482Z,1629056768.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,002F7,186,80,80,47,FF
2021-08-15T19:46:08.483Z,1629056768.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:08.486Z,1629056768.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:08.487Z,1629056768.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:08.889Z,1629056768.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:09.286Z,1629056769.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,002E0,189,80,80,A7,FF
2021-08-15T19:46:09.286Z,1629056769.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:09.389Z,1629056769.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:09.753Z,1629056769.753 [Micromodem](INFO): Nmea in: $SNTTA,0.070177,,,,194609.67*44

2021-08-15T19:46:09.852Z,1629056769.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.660000 m, bearing: 87.581023 deg, deltaT: 4.524711 s, approachRate: -0.304992 m/s, LOS rate: 10.497407 deg/s, posRepo size: 4
2021-08-15T19:46:12.141Z,1629056772.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:12.517Z,1629056772.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:12.517Z,1629056772.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:12.517Z,1629056772.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:12.518Z,1629056772.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:12.929Z,1629056772.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,002E0,189,80,80,A7,FF
2021-08-15T19:46:12.929Z,1629056772.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:12.929Z,1629056772.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:12.931Z,1629056772.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:13.336Z,1629056773.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:13.761Z,1629056773.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB5,000,002E3,188,80,80,8E,FF
2021-08-15T19:46:13.761Z,1629056773.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:13.856Z,1629056773.856 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:14.173Z,1629056774.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194614.11*51

2021-08-15T19:46:14.207Z,1629056774.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.839999 m, bearing: 91.877833 deg, deltaT: 4.466754 s, approachRate: 0.040297 m/s, LOS rate: 0.961954 deg/s, posRepo size: 4
2021-08-15T19:46:16.581Z,1629056776.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:16.970Z,1629056776.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:16.970Z,1629056776.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:16.970Z,1629056776.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:16.971Z,1629056776.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:17.374Z,1629056777.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB5,000,002E3,188,80,80,8E,FF
2021-08-15T19:46:17.374Z,1629056777.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:17.375Z,1629056777.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:17.393Z,1629056777.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:17.781Z,1629056777.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:18.173Z,1629056778.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6D,000,002E7,189,80,80,A9,FF
2021-08-15T19:46:18.173Z,1629056778.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:18.221Z,1629056778.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:18.598Z,1629056778.598 [Micromodem](INFO): Nmea in: $SNTTA,0.036815,,,,194618.58*47

2021-08-15T19:46:18.636Z,1629056778.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 95.304464 deg, deltaT: 4.364574 s, approachRate: 0.054989 m/s, LOS rate: 0.785101 deg/s, posRepo size: 4
2021-08-15T19:46:21.030Z,1629056781.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:21.433Z,1629056781.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:21.433Z,1629056781.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:21.433Z,1629056781.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:21.434Z,1629056781.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:21.810Z,1629056781.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6D,000,002E7,189,80,80,A9,FF
2021-08-15T19:46:21.811Z,1629056781.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:21.811Z,1629056781.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:21.812Z,1629056781.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:22.217Z,1629056782.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:22.621Z,1629056782.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C88,000,002E9,189,80,80,9A,FF
2021-08-15T19:46:22.621Z,1629056782.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:22.689Z,1629056782.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:23.053Z,1629056783.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194623.00*55

2021-08-15T19:46:23.087Z,1629056783.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 94.749402 deg, deltaT: 4.468622 s, approachRate: 0.026853 m/s, LOS rate: -0.124213 deg/s, posRepo size: 4
2021-08-15T19:46:25.495Z,1629056785.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:25.853Z,1629056785.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:25.853Z,1629056785.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:25.853Z,1629056785.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:25.854Z,1629056785.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:26.253Z,1629056786.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C88,000,002E9,189,80,80,9A,FF
2021-08-15T19:46:26.253Z,1629056786.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:26.253Z,1629056786.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:26.255Z,1629056786.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:26.661Z,1629056786.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:27.069Z,1629056787.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7F,000,002E9,189,80,80,9E,FF
2021-08-15T19:46:27.070Z,1629056787.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:27.093Z,1629056787.093 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:27.509Z,1629056787.509 [Micromodem](INFO): Nmea in: $SNTTA,0.029834,,,,194627.44*4B

2021-08-15T19:46:27.555Z,1629056787.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 96.357802 deg, deltaT: 4.404313 s, approachRate: 0.000000 m/s, LOS rate: 0.365188 deg/s, posRepo size: 4
2021-08-15T19:46:29.944Z,1629056789.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:30.310Z,1629056790.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:30.310Z,1629056790.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:30.311Z,1629056790.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:30.311Z,1629056790.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:30.701Z,1629056790.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7F,000,002E9,189,80,80,9E,FF
2021-08-15T19:46:30.701Z,1629056790.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:30.701Z,1629056790.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:30.703Z,1629056790.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:31.113Z,1629056791.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:31.505Z,1629056791.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C80,000,002EF,188,80,80,97,FF
2021-08-15T19:46:31.506Z,1629056791.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:31.558Z,1629056791.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:31.957Z,1629056791.957 [Micromodem](INFO): Nmea in: $SNTTA,0.358257,,,,194631.89*47

2021-08-15T19:46:32.021Z,1629056792.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 98.112225 deg, deltaT: 4.464378 s, approachRate: 0.080638 m/s, LOS rate: 0.392983 deg/s, posRepo size: 4
2021-08-15T19:46:34.406Z,1629056794.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:34.737Z,1629056794.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:34.737Z,1629056794.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:34.738Z,1629056794.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:34.739Z,1629056794.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:35.145Z,1629056795.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C80,000,002EF,188,80,80,97,FF
2021-08-15T19:46:35.146Z,1629056795.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:35.146Z,1629056795.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:35.147Z,1629056795.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:35.557Z,1629056795.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:35.949Z,1629056795.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8F,000,002F2,189,80,80,9F,FF
2021-08-15T19:46:35.950Z,1629056795.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:36.011Z,1629056796.011 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:36.405Z,1629056796.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194636.33*51

2021-08-15T19:46:36.430Z,1629056796.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 99.443388 deg, deltaT: 4.452652 s, approachRate: 0.040426 m/s, LOS rate: 0.298960 deg/s, posRepo size: 4
2021-08-15T19:46:38.809Z,1629056798.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:39.185Z,1629056799.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:39.185Z,1629056799.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:39.185Z,1629056799.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:39.186Z,1629056799.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:39.593Z,1629056799.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8F,000,002F2,189,80,80,9F,FF
2021-08-15T19:46:39.593Z,1629056799.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:39.593Z,1629056799.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:39.595Z,1629056799.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:40.005Z,1629056800.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:40.425Z,1629056800.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,002F6,189,80,80,95,FF
2021-08-15T19:46:40.425Z,1629056800.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:40.450Z,1629056800.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:40.834Z,1629056800.834 [Micromodem](INFO): Nmea in: $SNTTA,0.032725,,,,194640.78*40

2021-08-15T19:46:40.849Z,1629056800.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 98.774371 deg, deltaT: 4.439081 s, approachRate: 0.054065 m/s, LOS rate: -0.150711 deg/s, posRepo size: 4
2021-08-15T19:46:43.256Z,1629056803.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:43.625Z,1629056803.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:43.625Z,1629056803.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:43.625Z,1629056803.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:43.626Z,1629056803.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:44.049Z,1629056804.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,002F6,189,80,80,95,FF
2021-08-15T19:46:44.049Z,1629056804.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:44.049Z,1629056804.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:44.051Z,1629056804.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:44.441Z,1629056804.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:44.857Z,1629056804.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,002F6,189,80,80,A4,FF
2021-08-15T19:46:44.858Z,1629056804.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:44.916Z,1629056804.916 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:45.273Z,1629056805.273 [Micromodem](INFO): Nmea in: $SNTTA,0.041735,,,,194645.24*49

2021-08-15T19:46:45.322Z,1629056805.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 96.289316 deg, deltaT: 4.466306 s, approachRate: 0.000000 m/s, LOS rate: -0.556401 deg/s, posRepo size: 4
2021-08-15T19:46:47.755Z,1629056807.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:48.082Z,1629056808.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:48.082Z,1629056808.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:48.083Z,1629056808.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:48.083Z,1629056808.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:48.481Z,1629056808.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,002F6,189,80,80,A4,FF
2021-08-15T19:46:48.482Z,1629056808.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:48.482Z,1629056808.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:48.483Z,1629056808.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:48.897Z,1629056808.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:49.286Z,1629056809.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D40,000,002FA,189,80,80,A5,FF
2021-08-15T19:46:49.286Z,1629056809.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:49.314Z,1629056809.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:49.746Z,1629056809.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194649.67*58

2021-08-15T19:46:49.811Z,1629056809.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 96.948900 deg, deltaT: 4.398188 s, approachRate: 0.054568 m/s, LOS rate: 0.149967 deg/s, posRepo size: 4
2021-08-15T19:46:52.158Z,1629056812.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:52.513Z,1629056812.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:52.513Z,1629056812.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:52.513Z,1629056812.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:52.514Z,1629056812.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:52.915Z,1629056812.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D40,000,002FA,189,80,80,A5,FF
2021-08-15T19:46:52.932Z,1629056812.932 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:52.933Z,1629056812.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:52.935Z,1629056812.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:53.337Z,1629056813.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:53.759Z,1629056813.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,002FB,189,80,80,98,FF
2021-08-15T19:46:53.759Z,1629056813.759 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:53.863Z,1629056813.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:54.161Z,1629056814.161 [Micromodem](INFO): Nmea in: $SNTTA,0.028661,,,,194654.12*43

2021-08-15T19:46:54.183Z,1629056814.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 92.580277 deg, deltaT: 4.548742 s, approachRate: 0.013191 m/s, LOS rate: -0.960403 deg/s, posRepo size: 4
2021-08-15T19:46:56.580Z,1629056816.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:46:56.965Z,1629056816.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:46:56.965Z,1629056816.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:46:56.965Z,1629056816.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:46:56.966Z,1629056816.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:46:57.387Z,1629056817.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,002FB,189,80,80,98,FF
2021-08-15T19:46:57.387Z,1629056817.387 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:46:57.388Z,1629056817.388 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:46:57.390Z,1629056817.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:46:57.769Z,1629056817.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:46:58.173Z,1629056818.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,002FF,187,80,80,A9,FF
2021-08-15T19:46:58.174Z,1629056818.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:46:58.192Z,1629056818.192 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:46:58.611Z,1629056818.611 [Micromodem](INFO): Nmea in: $SNTTA,0.026308,,,,194658.57*4A

2021-08-15T19:46:58.686Z,1629056818.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 90.331164 deg, deltaT: 4.329445 s, approachRate: 0.055435 m/s, LOS rate: -0.519492 deg/s, posRepo size: 4
2021-08-15T19:47:01.019Z,1629056821.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:01.425Z,1629056821.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:01.425Z,1629056821.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:01.425Z,1629056821.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:01.426Z,1629056821.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:01.801Z,1629056821.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,002FF,187,80,80,A9,FF
2021-08-15T19:47:01.801Z,1629056821.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:01.802Z,1629056821.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:01.803Z,1629056821.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:02.213Z,1629056822.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:02.618Z,1629056822.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00302,187,80,80,B4,FF
2021-08-15T19:47:02.619Z,1629056822.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:02.652Z,1629056822.652 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:03.057Z,1629056823.057 [Micromodem](INFO): Nmea in: $SNTTA,0.054845,,,,194702.99*41

2021-08-15T19:47:03.079Z,1629056823.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 90.919250 deg, deltaT: 4.460045 s, approachRate: 0.040358 m/s, LOS rate: 0.131857 deg/s, posRepo size: 4
2021-08-15T19:47:05.473Z,1629056825.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:05.859Z,1629056825.859 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:05.859Z,1629056825.859 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:05.860Z,1629056825.860 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:05.862Z,1629056825.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:06.249Z,1629056826.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00302,187,80,80,B4,FF
2021-08-15T19:47:06.249Z,1629056826.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:06.249Z,1629056826.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:06.251Z,1629056826.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:06.667Z,1629056826.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:07.057Z,1629056827.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,0030A,186,80,80,B2,FF
2021-08-15T19:47:07.058Z,1629056827.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:07.105Z,1629056827.105 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:07.509Z,1629056827.509 [Micromodem](INFO): Nmea in: $SNTTA,0.046333,,,,194707.44*4D

2021-08-15T19:47:07.535Z,1629056827.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 91.585890 deg, deltaT: 4.452684 s, approachRate: 0.107800 m/s, LOS rate: 0.149716 deg/s, posRepo size: 4
2021-08-15T19:47:09.936Z,1629056829.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:10.293Z,1629056830.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:10.294Z,1629056830.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:10.294Z,1629056830.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:10.295Z,1629056830.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:10.701Z,1629056830.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,0030A,186,80,80,B2,FF
2021-08-15T19:47:10.701Z,1629056830.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:10.701Z,1629056830.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:10.703Z,1629056830.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:11.100Z,1629056831.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:11.505Z,1629056831.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,0030D,186,80,80,A6,FF
2021-08-15T19:47:11.506Z,1629056831.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:11.559Z,1629056831.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:11.917Z,1629056831.917 [Micromodem](INFO): Nmea in: $SNTTA,0.430149,0.430842,,,194711.89*56

2021-08-15T19:47:11.986Z,1629056831.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 89.027629 deg, deltaT: 4.453568 s, approachRate: 0.040417 m/s, LOS rate: -0.574430 deg/s, posRepo size: 4
2021-08-15T19:47:14.412Z,1629056834.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:14.737Z,1629056834.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:14.737Z,1629056834.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:14.737Z,1629056834.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:14.738Z,1629056834.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:15.137Z,1629056835.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,0030D,186,80,80,A6,FF
2021-08-15T19:47:15.137Z,1629056835.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:15.137Z,1629056835.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:15.139Z,1629056835.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:15.545Z,1629056835.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:15.945Z,1629056835.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F27,000,0030B,187,80,80,BC,FF
2021-08-15T19:47:15.945Z,1629056835.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:15.949Z,1629056835.949 [Micromodem](INFO): Nmea in: $SNTTA,0.026374,0.171062,,,194716.33*55

2021-08-15T19:47:16.060Z,1629056836.060 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:16.414Z,1629056836.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.240001 m, bearing: 87.242614 deg, deltaT: 4.501609 s, approachRate: -0.026657 m/s, LOS rate: -0.396528 deg/s, posRepo size: 4
2021-08-15T19:47:18.794Z,1629056838.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:19.177Z,1629056839.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:19.177Z,1629056839.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:19.177Z,1629056839.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:19.178Z,1629056839.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:19.590Z,1629056839.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F27,000,0030B,187,80,80,BC,FF
2021-08-15T19:47:19.590Z,1629056839.590 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:19.590Z,1629056839.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:19.592Z,1629056839.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:19.993Z,1629056839.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:20.421Z,1629056840.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00311,186,80,80,A9,FF
2021-08-15T19:47:20.421Z,1629056840.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:20.484Z,1629056840.484 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:20.821Z,1629056840.821 [Micromodem](INFO): Nmea in: $SNTTA,0.295217,,,,194720.78*4C

2021-08-15T19:47:20.843Z,1629056840.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 86.967617 deg, deltaT: 4.423606 s, approachRate: 0.081381 m/s, LOS rate: -0.062166 deg/s, posRepo size: 4
2021-08-15T19:47:23.238Z,1629056843.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:23.636Z,1629056843.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:23.637Z,1629056843.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:23.637Z,1629056843.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:23.638Z,1629056843.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:24.033Z,1629056844.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00311,186,80,80,A9,FF
2021-08-15T19:47:24.033Z,1629056844.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:24.033Z,1629056844.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:24.035Z,1629056844.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:24.437Z,1629056844.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:24.845Z,1629056844.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,00317,187,80,80,94,FF
2021-08-15T19:47:24.846Z,1629056844.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:24.864Z,1629056844.864 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:25.270Z,1629056845.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194725.22*52

2021-08-15T19:47:25.291Z,1629056845.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.960000 m, bearing: 84.745497 deg, deltaT: 4.380476 s, approachRate: 0.082183 m/s, LOS rate: -0.507278 deg/s, posRepo size: 4
2021-08-15T19:47:27.742Z,1629056847.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:28.061Z,1629056848.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:28.061Z,1629056848.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:28.061Z,1629056848.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:28.062Z,1629056848.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:28.469Z,1629056848.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,00317,187,80,80,94,FF
2021-08-15T19:47:28.470Z,1629056848.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:28.470Z,1629056848.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:28.471Z,1629056848.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:28.881Z,1629056848.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:29.278Z,1629056849.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,0031C,184,80,80,80,FF
2021-08-15T19:47:29.278Z,1629056849.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:29.339Z,1629056849.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:29.741Z,1629056849.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194729.66*5E

2021-08-15T19:47:29.798Z,1629056849.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 84.670980 deg, deltaT: 4.474469 s, approachRate: 0.067047 m/s, LOS rate: -0.016654 deg/s, posRepo size: 4
2021-08-15T19:47:32.146Z,1629056852.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:32.509Z,1629056852.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:32.509Z,1629056852.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:32.509Z,1629056852.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:32.510Z,1629056852.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:32.913Z,1629056852.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,0031C,184,80,80,80,FF
2021-08-15T19:47:32.913Z,1629056852.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:32.913Z,1629056852.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:32.915Z,1629056852.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:33.325Z,1629056853.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:33.767Z,1629056853.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0031F,185,80,80,7C,FF
2021-08-15T19:47:33.767Z,1629056853.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:33.775Z,1629056853.775 [Micromodem](INFO): Nmea in: $SNTTA,0.323981,0.323868,,,194734.10*55

2021-08-15T19:47:33.870Z,1629056853.870 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:34.167Z,1629056854.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 83.905152 deg, deltaT: 4.531383 s, approachRate: 0.039723 m/s, LOS rate: -0.169005 deg/s, posRepo size: 4
2021-08-15T19:47:36.580Z,1629056856.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:36.957Z,1629056856.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:36.957Z,1629056856.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:36.957Z,1629056856.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:36.958Z,1629056856.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:37.369Z,1629056857.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0031F,185,80,80,7C,FF
2021-08-15T19:47:37.369Z,1629056857.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:37.370Z,1629056857.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:37.375Z,1629056857.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:37.787Z,1629056857.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:38.169Z,1629056858.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00324,182,80,80,96,FF
2021-08-15T19:47:38.169Z,1629056858.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:38.188Z,1629056858.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:38.637Z,1629056858.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194738.56*5D

2021-08-15T19:47:38.663Z,1629056858.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 83.077367 deg, deltaT: 4.318075 s, approachRate: 0.069475 m/s, LOS rate: -0.191702 deg/s, posRepo size: 4
2021-08-15T19:47:41.023Z,1629056861.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:41.429Z,1629056861.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:41.429Z,1629056861.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:41.429Z,1629056861.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:41.430Z,1629056861.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:41.820Z,1629056861.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00324,182,80,80,96,FF
2021-08-15T19:47:41.821Z,1629056861.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:41.821Z,1629056861.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:41.822Z,1629056861.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:42.213Z,1629056862.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:42.621Z,1629056862.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00328,183,80,80,99,FF
2021-08-15T19:47:42.621Z,1629056862.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:42.650Z,1629056862.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:43.061Z,1629056863.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194743.01*53

2021-08-15T19:47:43.079Z,1629056863.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 83.130294 deg, deltaT: 4.461758 s, approachRate: 0.053791 m/s, LOS rate: 0.011862 deg/s, posRepo size: 4
2021-08-15T19:47:45.473Z,1629056865.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:45.849Z,1629056865.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:45.849Z,1629056865.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:45.850Z,1629056865.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:45.851Z,1629056865.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:46.249Z,1629056866.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00328,183,80,80,99,FF
2021-08-15T19:47:46.249Z,1629056866.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:46.249Z,1629056866.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:46.251Z,1629056866.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:46.650Z,1629056866.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:47.050Z,1629056867.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00330,185,80,80,90,FF
2021-08-15T19:47:47.050Z,1629056867.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:47.074Z,1629056867.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:47.486Z,1629056867.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194747.44*56

2021-08-15T19:47:47.531Z,1629056867.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 82.164491 deg, deltaT: 4.423590 s, approachRate: 0.108509 m/s, LOS rate: -0.218330 deg/s, posRepo size: 4
2021-08-15T19:47:49.961Z,1629056869.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:50.285Z,1629056870.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:50.286Z,1629056870.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:50.286Z,1629056870.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:50.287Z,1629056870.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:50.689Z,1629056870.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00330,185,80,80,90,FF
2021-08-15T19:47:50.689Z,1629056870.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:50.689Z,1629056870.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:50.692Z,1629056870.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:51.101Z,1629056871.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:51.497Z,1629056871.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,00333,184,80,80,85,FF
2021-08-15T19:47:51.498Z,1629056871.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:51.579Z,1629056871.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:51.913Z,1629056871.913 [Micromodem](INFO): Nmea in: $SNTTA,0.433804,0.394934,,,194751.88*59

2021-08-15T19:47:51.963Z,1629056871.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 81.493002 deg, deltaT: 4.509795 s, approachRate: 0.039914 m/s, LOS rate: -0.148896 deg/s, posRepo size: 4
2021-08-15T19:47:54.393Z,1629056874.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:54.729Z,1629056874.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:54.729Z,1629056874.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:54.729Z,1629056874.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:54.730Z,1629056874.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:55.133Z,1629056875.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,00333,184,80,80,85,FF
2021-08-15T19:47:55.133Z,1629056875.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:55.133Z,1629056875.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:55.135Z,1629056875.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:55.549Z,1629056875.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:47:55.941Z,1629056875.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,076,000,00338,186,80,80,A7,FF
2021-08-15T19:47:55.941Z,1629056875.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:47:55.999Z,1629056875.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:47:56.390Z,1629056876.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194756.32*57

2021-08-15T19:47:56.448Z,1629056876.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.940001 m, bearing: 80.925755 deg, deltaT: 4.416057 s, approachRate: 0.067934 m/s, LOS rate: -0.128451 deg/s, posRepo size: 4
2021-08-15T19:47:58.793Z,1629056878.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:47:59.173Z,1629056879.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:47:59.173Z,1629056879.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:47:59.173Z,1629056879.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:47:59.174Z,1629056879.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:47:59.581Z,1629056879.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
076,000,00338,186,80,80,A7,FF
2021-08-15T19:47:59.581Z,1629056879.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:47:59.581Z,1629056879.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:47:59.583Z,1629056879.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:47:59.989Z,1629056879.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:00.417Z,1629056880.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,0033B,186,80,80,AD,FF
2021-08-15T19:48:00.417Z,1629056880.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:00.490Z,1629056880.490 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:00.821Z,1629056880.821 [Micromodem](INFO): Nmea in: $SNTTA,0.031690,,,,194800.77*49

2021-08-15T19:48:00.843Z,1629056880.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 79.908466 deg, deltaT: 4.490405 s, approachRate: 0.040085 m/s, LOS rate: -0.226547 deg/s, posRepo size: 4
2021-08-15T19:48:03.238Z,1629056883.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:03.636Z,1629056883.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:03.636Z,1629056883.636 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:03.637Z,1629056883.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:03.637Z,1629056883.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:04.021Z,1629056884.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,0033B,186,80,80,AD,FF
2021-08-15T19:48:04.021Z,1629056884.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:04.021Z,1629056884.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:04.023Z,1629056884.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:04.441Z,1629056884.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:04.841Z,1629056884.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,00342,186,80,80,A2,FF
2021-08-15T19:48:04.841Z,1629056884.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:04.902Z,1629056884.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:05.282Z,1629056885.282 [Micromodem](INFO): Nmea in: $SNTTA,0.078738,,,,194805.21*41

2021-08-15T19:48:05.309Z,1629056885.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.540001 m, bearing: 78.387848 deg, deltaT: 4.411553 s, approachRate: 0.095205 m/s, LOS rate: -0.344690 deg/s, posRepo size: 4
2021-08-15T19:48:07.742Z,1629056887.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:08.061Z,1629056888.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:08.061Z,1629056888.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:08.061Z,1629056888.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:08.062Z,1629056888.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:08.469Z,1629056888.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,00342,186,80,80,A2,FF
2021-08-15T19:48:08.470Z,1629056888.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:08.470Z,1629056888.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:08.471Z,1629056888.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:08.881Z,1629056888.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:09.269Z,1629056889.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00348,186,80,80,88,FF
2021-08-15T19:48:09.270Z,1629056889.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:09.319Z,1629056889.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:09.733Z,1629056889.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194809.66*53

2021-08-15T19:48:09.811Z,1629056889.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.899998 m, bearing: 76.818120 deg, deltaT: 4.421989 s, approachRate: 0.081411 m/s, LOS rate: -0.354982 deg/s, posRepo size: 4
2021-08-15T19:48:12.122Z,1629056892.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:12.513Z,1629056892.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:12.513Z,1629056892.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:12.514Z,1629056892.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:12.515Z,1629056892.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:12.905Z,1629056892.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00348,186,80,80,88,FF
2021-08-15T19:48:12.905Z,1629056892.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:12.906Z,1629056892.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:12.907Z,1629056892.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:13.317Z,1629056893.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:13.753Z,1629056893.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,0034D,186,80,80,8B,FF
2021-08-15T19:48:13.754Z,1629056893.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:13.847Z,1629056893.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:14.157Z,1629056894.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194814.09*56

2021-08-15T19:48:14.179Z,1629056894.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.199997 m, bearing: 75.768402 deg, deltaT: 4.523915 s, approachRate: 0.066314 m/s, LOS rate: -0.232038 deg/s, posRepo size: 4
2021-08-15T19:48:16.577Z,1629056896.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:16.962Z,1629056896.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:16.962Z,1629056896.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:16.962Z,1629056896.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:16.963Z,1629056896.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:17.381Z,1629056897.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,0034D,186,80,80,8B,FF
2021-08-15T19:48:17.381Z,1629056897.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:17.382Z,1629056897.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:17.386Z,1629056897.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:17.765Z,1629056897.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:18.162Z,1629056898.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14E,000,00357,186,80,80,94,FF
2021-08-15T19:48:18.162Z,1629056898.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:18.203Z,1629056898.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:18.617Z,1629056898.617 [Micromodem](INFO): Nmea in: $SNTTA,0.023327,,,,194818.57*48

2021-08-15T19:48:18.662Z,1629056898.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 73.762976 deg, deltaT: 4.356147 s, approachRate: 0.137738 m/s, LOS rate: -0.460367 deg/s, posRepo size: 4
2021-08-15T19:48:21.011Z,1629056901.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:21.433Z,1629056901.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:21.433Z,1629056901.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:21.433Z,1629056901.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:21.434Z,1629056901.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:21.801Z,1629056901.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14E,000,00357,186,80,80,94,FF
2021-08-15T19:48:21.801Z,1629056901.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:21.801Z,1629056901.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:21.803Z,1629056901.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:22.213Z,1629056902.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:22.605Z,1629056902.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,0035F,185,80,80,B4,FF
2021-08-15T19:48:22.605Z,1629056902.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:22.667Z,1629056902.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:23.049Z,1629056903.049 [Micromodem](INFO): Nmea in: $SNTTA,0.034592,,,,194822.99*4D

2021-08-15T19:48:23.072Z,1629056903.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 72.117454 deg, deltaT: 4.463030 s, approachRate: 0.107550 m/s, LOS rate: -0.368701 deg/s, posRepo size: 4
2021-08-15T19:48:25.471Z,1629056905.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:25.837Z,1629056905.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:25.837Z,1629056905.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:25.837Z,1629056905.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:25.838Z,1629056905.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:26.241Z,1629056906.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,0035F,185,80,80,B4,FF
2021-08-15T19:48:26.241Z,1629056906.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:26.241Z,1629056906.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:26.243Z,1629056906.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:26.657Z,1629056906.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:27.049Z,1629056907.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00364,186,80,80,77,FF
2021-08-15T19:48:27.049Z,1629056907.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:27.097Z,1629056907.097 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:27.493Z,1629056907.493 [Micromodem](INFO): Nmea in: $SNTTA,0.057163,,,,194827.43*40

2021-08-15T19:48:27.519Z,1629056907.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 71.056186 deg, deltaT: 4.430205 s, approachRate: 0.067717 m/s, LOS rate: -0.239553 deg/s, posRepo size: 4
2021-08-15T19:48:29.919Z,1629056909.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:30.281Z,1629056910.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:30.282Z,1629056910.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:30.282Z,1629056910.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:30.283Z,1629056910.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:30.685Z,1629056910.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00364,186,80,80,77,FF
2021-08-15T19:48:30.685Z,1629056910.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:30.685Z,1629056910.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:30.687Z,1629056910.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:31.103Z,1629056911.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:31.497Z,1629056911.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CE,000,00370,186,80,80,B5,FF
2021-08-15T19:48:31.498Z,1629056911.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:31.550Z,1629056911.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:31.938Z,1629056911.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194831.87*57

2021-08-15T19:48:31.973Z,1629056911.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 68.716027 deg, deltaT: 4.453460 s, approachRate: 0.161672 m/s, LOS rate: -0.525470 deg/s, posRepo size: 4
2021-08-15T19:48:34.402Z,1629056914.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:34.737Z,1629056914.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:34.737Z,1629056914.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:34.737Z,1629056914.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:34.738Z,1629056914.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:35.129Z,1629056915.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CE,000,00370,186,80,80,B5,FF
2021-08-15T19:48:35.129Z,1629056915.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:35.129Z,1629056915.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:35.131Z,1629056915.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:35.549Z,1629056915.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:35.937Z,1629056915.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00374,187,80,80,A5,FF
2021-08-15T19:48:35.937Z,1629056915.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:36.000Z,1629056916.000 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:36.409Z,1629056916.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194836.32*5E

2021-08-15T19:48:36.442Z,1629056916.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 67.312211 deg, deltaT: 4.450040 s, approachRate: 0.053932 m/s, LOS rate: -0.315461 deg/s, posRepo size: 4
2021-08-15T19:48:38.805Z,1629056918.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:39.173Z,1629056919.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:39.173Z,1629056919.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:39.173Z,1629056919.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:39.174Z,1629056919.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:39.583Z,1629056919.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00374,187,80,80,A5,FF
2021-08-15T19:48:39.583Z,1629056919.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:39.583Z,1629056919.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:39.586Z,1629056919.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:39.985Z,1629056919.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:40.429Z,1629056920.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,0037D,187,80,80,91,FF
2021-08-15T19:48:40.430Z,1629056920.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:40.459Z,1629056920.459 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:40.809Z,1629056920.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194840.77*5E

2021-08-15T19:48:40.831Z,1629056920.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 66.013218 deg, deltaT: 4.459340 s, approachRate: 0.121093 m/s, LOS rate: -0.291297 deg/s, posRepo size: 4
2021-08-15T19:48:43.238Z,1629056923.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:43.618Z,1629056923.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:43.618Z,1629056923.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:43.618Z,1629056923.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:43.619Z,1629056923.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:44.017Z,1629056924.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,0037D,187,80,80,91,FF
2021-08-15T19:48:44.017Z,1629056924.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:44.017Z,1629056924.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:44.019Z,1629056924.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:44.454Z,1629056924.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:44.837Z,1629056924.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00382,189,80,80,A2,FF
2021-08-15T19:48:44.837Z,1629056924.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:44.881Z,1629056924.881 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:45.258Z,1629056925.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194845.21*58

2021-08-15T19:48:45.305Z,1629056925.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.380001 m, bearing: 64.651080 deg, deltaT: 4.421266 s, approachRate: 0.067855 m/s, LOS rate: -0.308088 deg/s, posRepo size: 4
2021-08-15T19:48:47.750Z,1629056927.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:48.057Z,1629056928.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:48.057Z,1629056928.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:48.057Z,1629056928.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:48.058Z,1629056928.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:48.457Z,1629056928.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00382,189,80,80,A2,FF
2021-08-15T19:48:48.457Z,1629056928.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:48.457Z,1629056928.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:48.459Z,1629056928.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:48.868Z,1629056928.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:49.269Z,1629056929.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25A,000,00389,189,80,80,B2,FF
2021-08-15T19:48:49.270Z,1629056929.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:49.386Z,1629056929.386 [CTD_Seabird](ERROR): Failed to parse device response: .10
2021-08-15T19:48:49.389Z,1629056929.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:49.728Z,1629056929.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194849.64*55

2021-08-15T19:48:49.763Z,1629056929.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.800003 m, bearing: 64.130333 deg, deltaT: 4.508170 s, approachRate: 0.093165 m/s, LOS rate: -0.115512 deg/s, posRepo size: 4
2021-08-15T19:48:52.138Z,1629056932.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:52.501Z,1629056932.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:52.501Z,1629056932.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:52.501Z,1629056932.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:52.502Z,1629056932.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:52.910Z,1629056932.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25A,000,00389,189,80,80,B2,FF
2021-08-15T19:48:52.910Z,1629056932.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:52.910Z,1629056932.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:52.911Z,1629056932.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:53.317Z,1629056933.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:53.757Z,1629056933.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,00391,189,80,80,BA,FF
2021-08-15T19:48:53.758Z,1629056933.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:53.761Z,1629056933.761 [Micromodem](INFO): Nmea in: $SNTTA,0.025900,0.218639,,,194854.10*53

2021-08-15T19:48:53.841Z,1629056933.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:54.151Z,1629056934.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 62.966134 deg, deltaT: 4.451701 s, approachRate: 0.107823 m/s, LOS rate: -0.261518 deg/s, posRepo size: 4
2021-08-15T19:48:56.597Z,1629056936.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:48:56.953Z,1629056936.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:48:56.953Z,1629056936.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:48:56.953Z,1629056936.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:48:56.954Z,1629056936.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:48:57.365Z,1629056937.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,00391,189,80,80,BA,FF
2021-08-15T19:48:57.365Z,1629056937.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:48:57.366Z,1629056937.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:48:57.373Z,1629056937.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:48:57.765Z,1629056937.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:48:58.161Z,1629056938.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,00399,188,80,80,B3,FF
2021-08-15T19:48:58.162Z,1629056938.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:48:58.180Z,1629056938.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:48:58.593Z,1629056938.593 [Micromodem](INFO): Nmea in: $SNTTA,0.055788,,,,194858.56*4D

2021-08-15T19:48:58.664Z,1629056938.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 62.865539 deg, deltaT: 4.339648 s, approachRate: 0.110608 m/s, LOS rate: -0.023180 deg/s, posRepo size: 4
2021-08-15T19:49:01.002Z,1629056941.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:01.428Z,1629056941.428 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:01.428Z,1629056941.428 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:01.429Z,1629056941.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:01.429Z,1629056941.429 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:01.797Z,1629056941.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,00399,188,80,80,B3,FF
2021-08-15T19:49:01.798Z,1629056941.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:01.798Z,1629056941.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:01.799Z,1629056941.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:02.200Z,1629056942.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:49:02.595Z,1629056942.595 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,003AA,189,80,80,76,FF
2021-08-15T19:49:02.595Z,1629056942.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:49:02.624Z,1629056942.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:49:03.033Z,1629056943.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,194902.99*59

2021-08-15T19:49:03.078Z,1629056943.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 59.019221 deg, deltaT: 4.443767 s, approachRate: 0.229535 m/s, LOS rate: -0.865554 deg/s, posRepo size: 4
2021-08-15T19:49:05.488Z,1629056945.488 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:05.833Z,1629056945.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:05.833Z,1629056945.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:05.833Z,1629056945.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:05.834Z,1629056945.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:06.245Z,1629056946.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,003AA,189,80,80,76,FF
2021-08-15T19:49:06.245Z,1629056946.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:06.246Z,1629056946.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:06.247Z,1629056946.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:06.645Z,1629056946.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:49:07.045Z,1629056947.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,003A9,189,80,80,B0,FF
2021-08-15T19:49:07.046Z,1629056947.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:49:07.065Z,1629056947.065 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:49:07.481Z,1629056947.481 [Micromodem](INFO): Nmea in: $SNTTA,0.032215,,,,194907.43*42

2021-08-15T19:49:07.531Z,1629056947.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 61.752922 deg, deltaT: 4.441012 s, approachRate: -0.013510 m/s, LOS rate: 0.615558 deg/s, posRepo size: 4
2021-08-15T19:49:09.928Z,1629056949.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:10.277Z,1629056950.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:10.278Z,1629056950.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:10.278Z,1629056950.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:10.279Z,1629056950.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:10.681Z,1629056950.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,003A9,189,80,80,B0,FF
2021-08-15T19:49:10.681Z,1629056950.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:10.681Z,1629056950.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:10.683Z,1629056950.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:11.097Z,1629056951.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:49:11.497Z,1629056951.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,003AD,189,80,80,9A,FF
2021-08-15T19:49:11.498Z,1629056951.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:49:11.527Z,1629056951.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:49:11.913Z,1629056951.913 [Micromodem](INFO): Nmea in: $SNTTA,0.106160,0.438888,,,194911.87*53

2021-08-15T19:49:11.969Z,1629056951.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 61.540387 deg, deltaT: 4.461331 s, approachRate: 0.053796 m/s, LOS rate: -0.047639 deg/s, posRepo size: 4
2021-08-15T19:49:14.383Z,1629056954.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:14.733Z,1629056954.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:14.733Z,1629056954.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:14.733Z,1629056954.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:14.734Z,1629056954.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:15.121Z,1629056955.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,003AD,189,80,80,9A,FF
2021-08-15T19:49:15.121Z,1629056955.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:15.121Z,1629056955.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:15.123Z,1629056955.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:15.534Z,1629056955.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:49:15.938Z,1629056955.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,003B4,189,80,80,A9,FF
2021-08-15T19:49:15.939Z,1629056955.939 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:49:15.977Z,1629056955.977 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:49:16.419Z,1629056956.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 60.213957 deg, deltaT: 4.450779 s, approachRate: 0.094365 m/s, LOS rate: -0.298022 deg/s, posRepo size: 4
2021-08-15T19:49:18.778Z,1629056958.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:19.173Z,1629056959.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:19.173Z,1629056959.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:19.173Z,1629056959.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:19.174Z,1629056959.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:19.577Z,1629056959.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,003B4,189,80,80,A9,FF
2021-08-15T19:49:19.577Z,1629056959.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:19.577Z,1629056959.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:19.579Z,1629056959.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:21.622Z,1629056961.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:22.429Z,1629056962.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:22.429Z,1629056962.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:22.429Z,1629056962.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:24.468Z,1629056964.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:24.825Z,1629056964.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:24.825Z,1629056964.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:24.826Z,1629056964.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:24.827Z,1629056964.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:25.221Z,1629056965.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:25.221Z,1629056965.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:25.222Z,1629056965.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:27.262Z,1629056967.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:28.065Z,1629056968.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:28.065Z,1629056968.065 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:28.065Z,1629056968.065 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:28.071Z,1629056968.071 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T19:49:30.129Z,1629056970.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:30.481Z,1629056970.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:30.481Z,1629056970.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:30.481Z,1629056970.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:30.482Z,1629056970.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:30.897Z,1629056970.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:30.897Z,1629056970.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:30.898Z,1629056970.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:30.899Z,1629056970.899 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:32.938Z,1629056972.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:33.757Z,1629056973.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:33.757Z,1629056973.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:33.757Z,1629056973.757 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:35.822Z,1629056975.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:36.133Z,1629056976.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:36.133Z,1629056976.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:36.133Z,1629056976.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:36.134Z,1629056976.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:36.545Z,1629056976.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:36.546Z,1629056976.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:36.546Z,1629056976.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:38.589Z,1629056978.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:39.391Z,1629056979.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:39.391Z,1629056979.391 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:39.391Z,1629056979.391 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:41.457Z,1629056981.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:41.785Z,1629056981.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:41.785Z,1629056981.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:41.785Z,1629056981.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:41.786Z,1629056981.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:42.202Z,1629056982.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:42.202Z,1629056982.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:42.202Z,1629056982.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:42.204Z,1629056982.204 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:42.602Z,1629056982.602 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T19:49:42.602Z,1629056982.602 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T19:49:42.602Z,1629056982.602 [Micromodem](ERROR): Hardware Fault
2021-08-15T19:49:42.653Z,1629056982.653 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T19:49:42.653Z,1629056982.653 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T19:49:42.653Z,1629056982.653 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T19:49:42.653Z,1629056982.653 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:49:42.654Z,1629056982.654 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T19:49:42.675Z,1629056982.675 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T19:49:42.998Z,1629056982.998 [Micromodem](INFO): Powering down
2021-08-15T19:49:43.421Z,1629056983.421 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2021-08-15T19:49:43.910Z,1629056983.910 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T19:49:43.910Z,1629056983.910 [Micromodem] No Fault, FailCount= 1
2021-08-15T19:49:44.260Z,1629056984.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:45.033Z,1629056985.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:45.034Z,1629056985.034 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:45.034Z,1629056985.034 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:46.654Z,1629056986.654 [Micromodem](INFO): Powering up
2021-08-15T19:49:46.654Z,1629056986.654 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T19:49:47.080Z,1629056987.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:47.449Z,1629056987.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:47.449Z,1629056987.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:47.449Z,1629056987.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:47.450Z,1629056987.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:47.850Z,1629056987.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:47.850Z,1629056987.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:47.850Z,1629056987.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:49.894Z,1629056989.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:50.685Z,1629056990.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:50.685Z,1629056990.685 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:50.686Z,1629056990.686 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:51.891Z,1629056991.891 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T19:49:51.891Z,1629056991.891 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T19:49:51.891Z,1629056991.891 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T19:49:52.022Z,1629056992.022 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T19:49:52.404Z,1629056992.404 [RDI_Pathfinder](INFO): Powering down
2021-08-15T19:49:52.438Z,1629056992.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:52.705Z,1629056992.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:52.705Z,1629056992.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:52.705Z,1629056992.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:52.706Z,1629056992.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:53.101Z,1629056993.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:53.101Z,1629056993.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:53.101Z,1629056993.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:49:53.167Z,1629056993.167 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T19:49:53.172Z,1629056993.172 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T19:49:53.506Z,1629056993.506 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:49:55.161Z,1629056995.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:55.523Z,1629056995.523 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:49:54.919411Z,RTC,RTC*5C

2021-08-15T19:49:55.523Z,1629056995.523 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T19:49:54.919411Z,RTC,RTC*5C

2021-08-15T19:49:55.933Z,1629056995.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:55.933Z,1629056995.933 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:55.933Z,1629056995.933 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:49:57.846Z,1629056997.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:49:57.957Z,1629056997.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:49:57.957Z,1629056997.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:49:57.957Z,1629056997.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:49:57.958Z,1629056997.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:49:58.382Z,1629056998.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:49:58.383Z,1629056998.383 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:49:58.383Z,1629056998.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:00.429Z,1629057000.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:03.257Z,1629057003.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:04.033Z,1629057004.033 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073965
2021-08-15T19:50:04.842Z,1629057004.842 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:05.242Z,1629057005.242 [Micromodem](INFO): Nmea in: $CAERR,195005,NI  ,12,Unknown command*44

2021-08-15T19:50:05.243Z,1629057005.243 [Micromodem](ERROR): Got error from modem: $CAERR,195005,NI  ,12,Unknown command*44

2021-08-15T19:50:06.115Z,1629057006.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:06.465Z,1629057006.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:06.465Z,1629057006.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:06.466Z,1629057006.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:06.466Z,1629057006.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:06.861Z,1629057006.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:50:06.861Z,1629057006.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:06.861Z,1629057006.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:08.774Z,1629057008.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:11.402Z,1629057011.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:12.552Z,1629057012.552 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.085563
2021-08-15T19:50:14.191Z,1629057014.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:14.573Z,1629057014.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:14.573Z,1629057014.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:14.573Z,1629057014.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:14.574Z,1629057014.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:14.965Z,1629057014.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,A9,FF
2021-08-15T19:50:14.965Z,1629057014.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:14.965Z,1629057014.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:16.178Z,1629057016.178 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:16.580Z,1629057016.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:16.592Z,1629057016.592 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T19:50:16.994Z,1629057016.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,00413,189,80,80,9E,FF
2021-08-15T19:50:16.994Z,1629057016.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:16.997Z,1629057016.997 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T19:50:16.997Z,1629057016.997 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T19:50:17.326Z,1629057017.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:17.529Z,1629057017.529 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T19:50:17.530Z,1629057017.530 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T19:50:17.653Z,1629057017.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.079998 m, bearing: 58.987009 deg, deltaT: 61.349087 s, approachRate: 0.092911 m/s, LOS rate: -0.019999 deg/s, posRepo size: 4
2021-08-15T19:50:17.926Z,1629057017.926 [Micromodem](INFO): Nmea in: $SNTTA,0.028125,,,,195017.37*43

2021-08-15T19:50:17.926Z,1629057017.926 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,0.028125,,,,195017.37*43

2021-08-15T19:50:19.135Z,1629057019.135 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T19:50:19.135Z,1629057019.135 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T19:50:19.526Z,1629057019.526 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T19:50:19.526Z,1629057019.526 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T19:50:19.938Z,1629057019.938 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T19:50:19.939Z,1629057019.939 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T19:50:20.039Z,1629057020.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:20.341Z,1629057020.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:20.341Z,1629057020.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:20.341Z,1629057020.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:20.342Z,1629057020.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:20.377Z,1629057020.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00413,189,80,80,9E,FF
2021-08-15T19:50:20.378Z,1629057020.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:20.378Z,1629057020.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:20.383Z,1629057020.383 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T19:50:20.388Z,1629057020.388 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T19:50:20.742Z,1629057020.742 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T19:50:20.743Z,1629057020.743 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T19:50:21.138Z,1629057021.138 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T19:50:21.139Z,1629057021.139 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,19,50,22*44

2021-08-15T19:50:21.670Z,1629057021.670 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,19,50,22*76

2021-08-15T19:50:21.671Z,1629057021.671 [Micromodem](INFO): Sent 51 bytes from file Logs/20210815T181729/Courier0024.lzma.parts
2021-08-15T19:50:21.671Z,1629057021.671 [Micromodem](INFO): Packets left to send: 0
2021-08-15T19:50:21.732Z,1629057021.732 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T19:50:21.732Z,1629057021.732 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T19:50:21.732Z,1629057021.732 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T19:50:21.732Z,1629057021.732 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T19:50:21.732Z,1629057021.732 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T19:50:22.051Z,1629057022.051 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T19:50:23Z*77

2021-08-15T19:50:22.052Z,1629057022.052 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T19:50:23.027576Z,USER_CMD,RTC*11

2021-08-15T19:50:22.882Z,1629057022.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:25.740Z,1629057025.740 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:26.500Z,1629057026.500 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.157881
2021-08-15T19:50:28.552Z,1629057028.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:28.917Z,1629057028.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:28.918Z,1629057028.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:28.918Z,1629057028.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:28.919Z,1629057028.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:29.322Z,1629057029.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00413,189,80,80,9E,FF
2021-08-15T19:50:29.322Z,1629057029.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:29.322Z,1629057029.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:29.324Z,1629057029.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:29.729Z,1629057029.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:30.132Z,1629057030.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,00429,189,80,80,C0,FF
2021-08-15T19:50:30.132Z,1629057030.132 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:30.150Z,1629057030.150 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:30.573Z,1629057030.573 [Micromodem](INFO): Nmea in: $SNTTA,0.034493,,,,195030.51*43

2021-08-15T19:50:30.613Z,1629057030.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 61.106281 deg, deltaT: 12.823973 s, approachRate: 0.102932 m/s, LOS rate: 0.165259 deg/s, posRepo size: 4
2021-08-15T19:50:32.970Z,1629057032.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:33.370Z,1629057033.370 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:33.371Z,1629057033.371 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:33.371Z,1629057033.371 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:33.377Z,1629057033.377 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:33.765Z,1629057033.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,00429,189,80,80,C0,FF
2021-08-15T19:50:33.765Z,1629057033.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:33.765Z,1629057033.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:33.767Z,1629057033.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:34.168Z,1629057034.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:34.578Z,1629057034.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,00437,189,80,80,9A,FF
2021-08-15T19:50:34.578Z,1629057034.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:34.635Z,1629057034.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:35.005Z,1629057035.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195034.95*58

2021-08-15T19:50:35.042Z,1629057035.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 59.722156 deg, deltaT: 4.484509 s, approachRate: 0.187312 m/s, LOS rate: -0.308646 deg/s, posRepo size: 4
2021-08-15T19:50:37.456Z,1629057037.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:37.809Z,1629057037.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:37.810Z,1629057037.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:37.810Z,1629057037.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:37.811Z,1629057037.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:38.209Z,1629057038.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,00437,189,80,80,9A,FF
2021-08-15T19:50:38.209Z,1629057038.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:38.209Z,1629057038.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:38.211Z,1629057038.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:38.625Z,1629057038.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:39.017Z,1629057039.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,00439,189,80,80,98,FF
2021-08-15T19:50:39.018Z,1629057039.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:39.042Z,1629057039.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:39.467Z,1629057039.467 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195039.40*5D

2021-08-15T19:50:39.493Z,1629057039.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 60.759778 deg, deltaT: 4.406952 s, approachRate: 0.027230 m/s, LOS rate: 0.235451 deg/s, posRepo size: 4
2021-08-15T19:50:41.897Z,1629057041.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:42.249Z,1629057042.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:42.249Z,1629057042.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:42.249Z,1629057042.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:42.250Z,1629057042.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:42.653Z,1629057042.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,00439,189,80,80,98,FF
2021-08-15T19:50:42.653Z,1629057042.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:42.653Z,1629057042.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:42.655Z,1629057042.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:43.061Z,1629057043.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:43.466Z,1629057043.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,00438,189,80,80,AF,FF
2021-08-15T19:50:43.466Z,1629057043.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:43.519Z,1629057043.519 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:43.901Z,1629057043.901 [Micromodem](INFO): Nmea in: $SNTTA,0.033811,,,,195043.85*4F

2021-08-15T19:50:43.947Z,1629057043.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 61.743285 deg, deltaT: 4.477292 s, approachRate: -0.013400 m/s, LOS rate: 0.219665 deg/s, posRepo size: 4
2021-08-15T19:50:46.279Z,1629057046.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:46.601Z,1629057046.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:46.601Z,1629057046.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:46.602Z,1629057046.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:46.603Z,1629057046.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:46.975Z,1629057046.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,00438,189,80,80,AF,FF
2021-08-15T19:50:46.975Z,1629057046.975 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:46.975Z,1629057046.975 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:46.977Z,1629057046.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:47.400Z,1629057047.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:47.781Z,1629057047.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,390,000,00447,189,80,80,A6,FF
2021-08-15T19:50:47.781Z,1629057047.781 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:47.879Z,1629057047.879 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:48.217Z,1629057048.217 [Micromodem](INFO): Nmea in: $SNTTA,,0.201576,,,195048.17*40

2021-08-15T19:50:48.269Z,1629057048.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 61.197696 deg, deltaT: 4.359694 s, approachRate: 0.206436 m/s, LOS rate: -0.125144 deg/s, posRepo size: 4
2021-08-15T19:50:50.647Z,1629057050.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:51.013Z,1629057051.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:51.013Z,1629057051.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:51.013Z,1629057051.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:51.014Z,1629057051.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:51.433Z,1629057051.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
390,000,00447,189,80,80,A6,FF
2021-08-15T19:50:51.433Z,1629057051.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:51.433Z,1629057051.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:51.435Z,1629057051.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:51.821Z,1629057051.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:52.234Z,1629057052.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,00442,189,80,80,A7,FF
2021-08-15T19:50:52.235Z,1629057052.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:50:52.262Z,1629057052.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:50:52.641Z,1629057052.641 [Micromodem](INFO): Nmea in: $SNTTA,0.035845,,,,195052.62*41

2021-08-15T19:50:52.643Z,1629057052.643 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T19:50:52.712Z,1629057052.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 60.596311 deg, deltaT: 4.382807 s, approachRate: -0.068449 m/s, LOS rate: -0.137214 deg/s, posRepo size: 4
2021-08-15T19:50:55.074Z,1629057055.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:55.450Z,1629057055.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:50:55.450Z,1629057055.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:50:55.450Z,1629057055.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:50:55.451Z,1629057055.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:50:55.865Z,1629057055.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,00442,189,80,80,A7,FF
2021-08-15T19:50:55.865Z,1629057055.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:50:55.865Z,1629057055.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:50:55.867Z,1629057055.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:50:56.276Z,1629057056.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:50:57.091Z,1629057057.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195057.06*57

2021-08-15T19:50:57.974Z,1629057057.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:50:59.489Z,1629057059.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,A7,FF
2021-08-15T19:50:59.489Z,1629057059.489 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,A7,FF
2021-08-15T19:50:59.489Z,1629057059.489 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:51:00.739Z,1629057060.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:01.105Z,1629057061.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:01.105Z,1629057061.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:01.105Z,1629057061.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:01.106Z,1629057061.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:01.517Z,1629057061.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,A7,FF
2021-08-15T19:51:01.517Z,1629057061.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:01.517Z,1629057061.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:01.519Z,1629057061.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:01.928Z,1629057061.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:02.327Z,1629057062.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,419,000,0044F,189,80,80,B5,FF
2021-08-15T19:51:02.327Z,1629057062.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:02.383Z,1629057062.383 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:02.764Z,1629057062.764 [Micromodem](INFO): Nmea in: $SNTTA,0.033044,,,,195102.71*48

2021-08-15T19:51:02.843Z,1629057062.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 57.192917 deg, deltaT: 10.130901 s, approachRate: 0.076992 m/s, LOS rate: -0.335942 deg/s, posRepo size: 4
2021-08-15T19:51:05.166Z,1629057065.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:05.545Z,1629057065.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:05.545Z,1629057065.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:05.546Z,1629057065.546 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:05.548Z,1629057065.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:05.965Z,1629057065.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
419,000,0044F,189,80,80,B5,FF
2021-08-15T19:51:05.965Z,1629057065.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:05.965Z,1629057065.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:05.967Z,1629057065.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:06.379Z,1629057066.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:06.765Z,1629057066.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,434,000,00451,18A,80,80,B7,FF
2021-08-15T19:51:06.765Z,1629057066.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:06.785Z,1629057066.785 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:07.193Z,1629057067.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195107.16*52

2021-08-15T19:51:07.233Z,1629057067.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.799999 m, bearing: 56.135525 deg, deltaT: 4.392268 s, approachRate: 0.027321 m/s, LOS rate: -0.240739 deg/s, posRepo size: 4
2021-08-15T19:51:07.622Z,1629057067.622 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T19:51:09.693Z,1629057069.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:10.005Z,1629057070.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:10.005Z,1629057070.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:10.005Z,1629057070.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:10.006Z,1629057070.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:10.421Z,1629057070.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
434,000,00451,18A,80,80,B7,FF
2021-08-15T19:51:10.421Z,1629057070.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:10.421Z,1629057070.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:10.423Z,1629057070.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:10.813Z,1629057070.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:11.209Z,1629057071.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,429,000,0045E,18A,80,80,81,FF
2021-08-15T19:51:11.210Z,1629057071.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:11.229Z,1629057071.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:11.669Z,1629057071.669 [Micromodem](INFO): Nmea in: $SNTTA,0.076051,0.476280,,,195111.61*5F

2021-08-15T19:51:11.775Z,1629057071.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 56.735277 deg, deltaT: 4.443975 s, approachRate: 0.175519 m/s, LOS rate: 0.134958 deg/s, posRepo size: 4
2021-08-15T19:51:13.771Z,1629057073.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:14.041Z,1629057074.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:14.041Z,1629057074.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:14.041Z,1629057074.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:14.042Z,1629057074.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:14.441Z,1629057074.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
429,000,0045E,18A,80,80,81,FF
2021-08-15T19:51:14.441Z,1629057074.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:14.441Z,1629057074.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:14.443Z,1629057074.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:14.853Z,1629057074.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:15.245Z,1629057075.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42F,000,0046E,189,80,80,A3,FF
2021-08-15T19:51:15.246Z,1629057075.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:15.310Z,1629057075.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:15.677Z,1629057075.677 [Micromodem](INFO): Nmea in: $SNTTA,0.020024,0.466893,,,195115.63*51

2021-08-15T19:51:15.734Z,1629057075.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.539997 m, bearing: 56.169895 deg, deltaT: 4.081188 s, approachRate: 0.235224 m/s, LOS rate: -0.138534 deg/s, posRepo size: 4
2021-08-15T19:51:18.097Z,1629057078.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:18.493Z,1629057078.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:18.493Z,1629057078.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:18.494Z,1629057078.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:18.495Z,1629057078.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:18.889Z,1629057078.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42F,000,0046E,189,80,80,A3,FF
2021-08-15T19:51:18.889Z,1629057078.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:18.890Z,1629057078.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:18.891Z,1629057078.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:19.298Z,1629057079.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:19.713Z,1629057079.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,422,000,00473,189,80,80,BA,FF
2021-08-15T19:51:19.713Z,1629057079.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:19.717Z,1629057079.717 [Micromodem](INFO): Nmea in: $SNTTA,0.167220,0.283956,,,195120.08*5B

2021-08-15T19:51:19.806Z,1629057079.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:20.144Z,1629057080.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 56.869081 deg, deltaT: 4.496219 s, approachRate: 0.066723 m/s, LOS rate: 0.155505 deg/s, posRepo size: 4
2021-08-15T19:51:22.577Z,1629057082.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:22.937Z,1629057082.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:22.937Z,1629057082.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:22.937Z,1629057082.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:22.938Z,1629057082.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:23.359Z,1629057083.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
422,000,00473,189,80,80,BA,FF
2021-08-15T19:51:23.359Z,1629057083.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:23.360Z,1629057083.360 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:23.366Z,1629057083.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:23.736Z,1629057083.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:24.137Z,1629057084.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43F,000,00474,18A,80,80,A3,FF
2021-08-15T19:51:24.138Z,1629057084.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:24.182Z,1629057084.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:24.562Z,1629057084.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195124.55*54

2021-08-15T19:51:24.601Z,1629057084.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.900002 m, bearing: 55.041489 deg, deltaT: 4.375763 s, approachRate: 0.013713 m/s, LOS rate: -0.417662 deg/s, posRepo size: 4
2021-08-15T19:51:27.037Z,1629057087.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:27.393Z,1629057087.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:27.393Z,1629057087.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:27.393Z,1629057087.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:27.394Z,1629057087.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:27.777Z,1629057087.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43F,000,00474,18A,80,80,A3,FF
2021-08-15T19:51:27.777Z,1629057087.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:27.777Z,1629057087.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:27.779Z,1629057087.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:28.188Z,1629057088.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:29.014Z,1629057089.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195128.97*56

2021-08-15T19:51:29.834Z,1629057089.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:31.429Z,1629057091.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T19:51:31.429Z,1629057091.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T19:51:31.430Z,1629057091.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:51:32.680Z,1629057092.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:33.025Z,1629057093.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:33.025Z,1629057093.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:33.025Z,1629057093.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:33.026Z,1629057093.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:33.429Z,1629057093.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,18A,80,80,A3,FF
2021-08-15T19:51:33.429Z,1629057093.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:33.429Z,1629057093.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:33.431Z,1629057093.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:33.844Z,1629057093.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:34.237Z,1629057094.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,40B,000,00480,189,80,80,9F,FF
2021-08-15T19:51:34.238Z,1629057094.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:34.270Z,1629057094.270 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:34.665Z,1629057094.665 [Micromodem](INFO): Nmea in: $SNTTA,0.038708,,,,195134.62*4B

2021-08-15T19:51:34.703Z,1629057094.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.620001 m, bearing: 56.617204 deg, deltaT: 10.087904 s, approachRate: 0.071373 m/s, LOS rate: 0.156198 deg/s, posRepo size: 4
2021-08-15T19:51:37.113Z,1629057097.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:37.481Z,1629057097.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:37.481Z,1629057097.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:37.481Z,1629057097.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:37.482Z,1629057097.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:37.878Z,1629057097.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
40B,000,00480,189,80,80,9F,FF
2021-08-15T19:51:37.878Z,1629057097.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:37.878Z,1629057097.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:37.879Z,1629057097.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:38.282Z,1629057098.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:38.685Z,1629057098.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F6,000,00492,18A,80,80,A7,FF
2021-08-15T19:51:38.685Z,1629057098.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:38.772Z,1629057098.772 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:39.134Z,1629057099.134 [Micromodem](INFO): Nmea in: $SNTTA,0.057157,,,,195139.07*40

2021-08-15T19:51:39.155Z,1629057099.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.699997 m, bearing: 57.356855 deg, deltaT: 4.501951 s, approachRate: 0.239895 m/s, LOS rate: 0.164296 deg/s, posRepo size: 4
2021-08-15T19:51:41.617Z,1629057101.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:41.925Z,1629057101.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:41.925Z,1629057101.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:41.925Z,1629057101.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:41.926Z,1629057101.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:42.329Z,1629057102.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F6,000,00492,18A,80,80,A7,FF
2021-08-15T19:51:42.329Z,1629057102.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:42.329Z,1629057102.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:42.333Z,1629057102.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:42.733Z,1629057102.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:43.137Z,1629057103.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E7,000,00497,189,80,80,B9,FF
2021-08-15T19:51:43.138Z,1629057103.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:43.156Z,1629057103.156 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:43.572Z,1629057103.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195143.52*52

2021-08-15T19:51:43.651Z,1629057103.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 57.881134 deg, deltaT: 4.384640 s, approachRate: 0.068420 m/s, LOS rate: 0.119572 deg/s, posRepo size: 4
2021-08-15T19:51:46.012Z,1629057106.012 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:46.377Z,1629057106.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:46.377Z,1629057106.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:46.378Z,1629057106.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:46.379Z,1629057106.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:46.773Z,1629057106.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E7,000,00497,189,80,80,B9,FF
2021-08-15T19:51:46.773Z,1629057106.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:46.774Z,1629057106.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:46.775Z,1629057106.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:47.177Z,1629057107.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:47.640Z,1629057107.640 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F4,000,0049F,189,80,80,A6,FF
2021-08-15T19:51:47.641Z,1629057107.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:47.690Z,1629057107.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:48.005Z,1629057108.005 [Micromodem](INFO): Nmea in: $SNTTA,,0.339621,,,195147.97*4D

2021-08-15T19:51:48.041Z,1629057108.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 56.833608 deg, deltaT: 4.533303 s, approachRate: 0.105884 m/s, LOS rate: -0.231073 deg/s, posRepo size: 4
2021-08-15T19:51:50.469Z,1629057110.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:50.822Z,1629057110.822 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:50.822Z,1629057110.822 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:50.822Z,1629057110.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:50.823Z,1629057110.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:51.217Z,1629057111.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F4,000,0049F,189,80,80,A6,FF
2021-08-15T19:51:51.217Z,1629057111.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:51.217Z,1629057111.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:51.219Z,1629057111.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:51.660Z,1629057111.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:52.023Z,1629057112.023 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,0049F,189,80,80,A3,FF
2021-08-15T19:51:52.023Z,1629057112.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:52.042Z,1629057112.042 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:52.458Z,1629057112.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195152.41*50

2021-08-15T19:51:52.509Z,1629057112.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 58.489177 deg, deltaT: 4.351950 s, approachRate: 0.000000 m/s, LOS rate: 0.380420 deg/s, posRepo size: 4
2021-08-15T19:51:54.891Z,1629057114.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:55.253Z,1629057115.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:55.253Z,1629057115.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:55.254Z,1629057115.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:55.255Z,1629057115.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:51:55.662Z,1629057115.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,0049F,189,80,80,A3,FF
2021-08-15T19:51:55.662Z,1629057115.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:51:55.662Z,1629057115.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:51:55.665Z,1629057115.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:51:56.065Z,1629057116.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:51:56.461Z,1629057116.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E9,000,004A5,18A,80,80,96,FF
2021-08-15T19:51:56.462Z,1629057116.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:51:56.537Z,1629057116.537 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:51:56.897Z,1629057116.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195156.85*5C

2021-08-15T19:51:56.944Z,1629057116.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.839996 m, bearing: 57.040085 deg, deltaT: 4.494890 s, approachRate: 0.080090 m/s, LOS rate: -0.322387 deg/s, posRepo size: 4
2021-08-15T19:51:59.315Z,1629057119.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:51:59.698Z,1629057119.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:51:59.698Z,1629057119.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:51:59.698Z,1629057119.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:51:59.699Z,1629057119.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:00.097Z,1629057120.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E9,000,004A5,18A,80,80,96,FF
2021-08-15T19:52:00.097Z,1629057120.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:00.097Z,1629057120.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:00.099Z,1629057120.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:00.505Z,1629057120.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:00.917Z,1629057120.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,004B0,189,80,80,9C,FF
2021-08-15T19:52:00.918Z,1629057120.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:00.964Z,1629057120.964 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:01.365Z,1629057121.365 [Micromodem](INFO): Nmea in: $SNTTA,0.045081,,,,195201.29*4D

2021-08-15T19:52:01.428Z,1629057121.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 59.670336 deg, deltaT: 4.427570 s, approachRate: 0.149067 m/s, LOS rate: 0.594062 deg/s, posRepo size: 4
2021-08-15T19:52:03.861Z,1629057123.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:04.145Z,1629057124.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:04.145Z,1629057124.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:04.145Z,1629057124.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:04.146Z,1629057124.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:04.545Z,1629057124.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,004B0,189,80,80,9C,FF
2021-08-15T19:52:04.545Z,1629057124.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:04.545Z,1629057124.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:04.547Z,1629057124.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:04.953Z,1629057124.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:05.365Z,1629057125.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EF,000,004BD,189,80,80,63,FF
2021-08-15T19:52:05.366Z,1629057125.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:05.429Z,1629057125.429 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:05.773Z,1629057125.773 [Micromodem](INFO): Nmea in: $SNTTA,0.452308,0.451964,,,195205.74*54

2021-08-15T19:52:05.824Z,1629057125.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.279999 m, bearing: 58.330232 deg, deltaT: 4.465233 s, approachRate: 0.174683 m/s, LOS rate: -0.300120 deg/s, posRepo size: 4
2021-08-15T19:52:08.210Z,1629057128.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:08.585Z,1629057128.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:08.585Z,1629057128.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:08.585Z,1629057128.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:08.586Z,1629057128.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:08.989Z,1629057128.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EF,000,004BD,189,80,80,63,FF
2021-08-15T19:52:08.989Z,1629057128.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:08.990Z,1629057128.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:08.991Z,1629057128.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:09.425Z,1629057129.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:09.797Z,1629057129.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,415,000,004BE,18A,80,80,A5,FF
2021-08-15T19:52:09.798Z,1629057129.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:09.857Z,1629057129.857 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:10.245Z,1629057130.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195210.18*59

2021-08-15T19:52:10.263Z,1629057130.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 57.735610 deg, deltaT: 4.428103 s, approachRate: 0.013550 m/s, LOS rate: -0.134284 deg/s, posRepo size: 4
2021-08-15T19:52:12.663Z,1629057132.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:13.029Z,1629057133.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:13.029Z,1629057133.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:13.029Z,1629057133.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:13.030Z,1629057133.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:13.437Z,1629057133.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
415,000,004BE,18A,80,80,A5,FF
2021-08-15T19:52:13.437Z,1629057133.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:13.437Z,1629057133.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:13.439Z,1629057133.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:13.840Z,1629057133.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:14.247Z,1629057134.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,457,000,004C3,189,80,80,90,FF
2021-08-15T19:52:14.247Z,1629057134.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:14.266Z,1629057134.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:14.678Z,1629057134.678 [Micromodem](INFO): Nmea in: $SNTTA,0.045442,,,,195214.63*4C

2021-08-15T19:52:14.715Z,1629057134.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 55.773272 deg, deltaT: 4.408218 s, approachRate: 0.068055 m/s, LOS rate: -0.445154 deg/s, posRepo size: 4
2021-08-15T19:52:17.121Z,1629057137.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:17.474Z,1629057137.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:17.474Z,1629057137.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:17.474Z,1629057137.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:17.475Z,1629057137.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:17.881Z,1629057137.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
457,000,004C3,189,80,80,90,FF
2021-08-15T19:52:17.881Z,1629057137.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:17.881Z,1629057137.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:17.883Z,1629057137.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:18.298Z,1629057138.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:18.685Z,1629057138.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4DC,000,004C3,189,80,80,B5,FF
2021-08-15T19:52:18.686Z,1629057138.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:18.798Z,1629057138.798 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:19.126Z,1629057139.126 [Micromodem](INFO): Nmea in: $SNTTA,0.038691,,,,195219.07*45

2021-08-15T19:52:19.141Z,1629057139.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 50.637643 deg, deltaT: 4.532697 s, approachRate: 0.000000 m/s, LOS rate: -1.133018 deg/s, posRepo size: 4
2021-08-15T19:52:21.598Z,1629057141.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:21.917Z,1629057141.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:21.917Z,1629057141.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:21.917Z,1629057141.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:21.918Z,1629057141.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:22.337Z,1629057142.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4DC,000,004C3,189,80,80,B5,FF
2021-08-15T19:52:22.337Z,1629057142.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:22.337Z,1629057142.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:22.341Z,1629057142.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:22.743Z,1629057142.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:23.126Z,1629057143.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004D6,18A,80,80,B7,FF
2021-08-15T19:52:23.126Z,1629057143.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:23.174Z,1629057143.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:23.557Z,1629057143.557 [Micromodem](INFO): Nmea in: $SNTTA,0.045660,,,,195223.53*49

2021-08-15T19:52:23.634Z,1629057143.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.779999 m, bearing: 50.414781 deg, deltaT: 4.375340 s, approachRate: 0.260551 m/s, LOS rate: -0.050936 deg/s, posRepo size: 4
2021-08-15T19:52:26.009Z,1629057146.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:26.368Z,1629057146.368 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:26.368Z,1629057146.368 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:26.369Z,1629057146.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:26.371Z,1629057146.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:26.765Z,1629057146.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004D6,18A,80,80,B7,FF
2021-08-15T19:52:26.765Z,1629057146.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:26.765Z,1629057146.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:26.767Z,1629057146.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:27.173Z,1629057147.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:27.597Z,1629057147.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004DB,189,80,80,96,FF
2021-08-15T19:52:27.599Z,1629057147.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:27.623Z,1629057147.623 [Micromodem](INFO): Nmea in: $SNTTA,0.305947,0.305797,,,195227.96*58

2021-08-15T19:52:27.687Z,1629057147.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:28.012Z,1629057148.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 51.437123 deg, deltaT: 4.513648 s, approachRate: 0.066466 m/s, LOS rate: 0.226500 deg/s, posRepo size: 4
2021-08-15T19:52:30.456Z,1629057150.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:30.813Z,1629057150.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:30.813Z,1629057150.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:30.813Z,1629057150.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:30.814Z,1629057150.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:31.209Z,1629057151.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004DB,189,80,80,96,FF
2021-08-15T19:52:31.209Z,1629057151.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:31.209Z,1629057151.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:31.211Z,1629057151.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:31.645Z,1629057151.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:32.017Z,1629057152.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004DE,188,80,80,8D,FF
2021-08-15T19:52:32.018Z,1629057152.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:32.078Z,1629057152.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:32.449Z,1629057152.449 [Micromodem](INFO): Nmea in: $SNTTA,0.121455,,,,195232.40*4C

2021-08-15T19:52:32.486Z,1629057152.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 52.674142 deg, deltaT: 4.390303 s, approachRate: 0.040999 m/s, LOS rate: 0.281762 deg/s, posRepo size: 4
2021-08-15T19:52:34.881Z,1629057154.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:35.249Z,1629057155.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:35.249Z,1629057155.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:35.249Z,1629057155.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:35.250Z,1629057155.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:35.657Z,1629057155.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004DE,188,80,80,8D,FF
2021-08-15T19:52:35.657Z,1629057155.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:35.657Z,1629057155.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:35.659Z,1629057155.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:36.061Z,1629057156.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:36.461Z,1629057156.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004E8,189,80,80,86,FF
2021-08-15T19:52:36.462Z,1629057156.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:36.515Z,1629057156.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:36.885Z,1629057156.885 [Micromodem](INFO): Nmea in: $SNTTA,0.062690,,,,195236.85*4C

2021-08-15T19:52:36.924Z,1629057156.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 53.707881 deg, deltaT: 4.437320 s, approachRate: 0.135216 m/s, LOS rate: 0.232965 deg/s, posRepo size: 4
2021-08-15T19:52:39.341Z,1629057159.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:39.705Z,1629057159.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:39.705Z,1629057159.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:39.705Z,1629057159.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:39.706Z,1629057159.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:40.097Z,1629057160.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004E8,189,80,80,86,FF
2021-08-15T19:52:40.097Z,1629057160.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:40.097Z,1629057160.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:40.099Z,1629057160.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:40.509Z,1629057160.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:40.909Z,1629057160.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004F1,189,80,80,8F,FF
2021-08-15T19:52:40.910Z,1629057160.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:40.961Z,1629057160.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:41.371Z,1629057161.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195241.29*5F

2021-08-15T19:52:41.418Z,1629057161.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.399998 m, bearing: 54.434552 deg, deltaT: 4.445598 s, approachRate: 0.121469 m/s, LOS rate: 0.163458 deg/s, posRepo size: 4
2021-08-15T19:52:43.828Z,1629057163.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:44.137Z,1629057164.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:44.137Z,1629057164.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:44.137Z,1629057164.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:44.138Z,1629057164.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:44.549Z,1629057164.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004F1,189,80,80,8F,FF
2021-08-15T19:52:44.549Z,1629057164.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:44.550Z,1629057164.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:44.551Z,1629057164.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:44.948Z,1629057164.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:45.382Z,1629057165.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004F7,188,80,80,7E,FF
2021-08-15T19:52:45.400Z,1629057165.400 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:45.456Z,1629057165.456 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:45.769Z,1629057165.769 [Micromodem](INFO): Nmea in: $SNTTA,0.412923,0.413029,,,195245.74*51

2021-08-15T19:52:45.834Z,1629057165.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.760002 m, bearing: 54.929983 deg, deltaT: 4.495871 s, approachRate: 0.080074 m/s, LOS rate: 0.110197 deg/s, posRepo size: 4
2021-08-15T19:52:48.222Z,1629057168.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:48.582Z,1629057168.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:48.582Z,1629057168.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:48.582Z,1629057168.582 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:48.583Z,1629057168.583 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:48.997Z,1629057168.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004F7,188,80,80,7E,FF
2021-08-15T19:52:48.997Z,1629057168.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:48.998Z,1629057168.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:48.999Z,1629057168.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:49.439Z,1629057169.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:49.801Z,1629057169.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,004FF,189,80,80,AF,FF
2021-08-15T19:52:49.802Z,1629057169.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:49.882Z,1629057169.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:50.238Z,1629057170.238 [Micromodem](INFO): Nmea in: $SNTTA,0.038695,,,,195250.19*43

2021-08-15T19:52:50.280Z,1629057170.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 55.415797 deg, deltaT: 4.425677 s, approachRate: 0.108458 m/s, LOS rate: 0.109772 deg/s, posRepo size: 4
2021-08-15T19:52:52.685Z,1629057172.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:53.031Z,1629057173.031 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:53.031Z,1629057173.031 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:53.031Z,1629057173.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:53.032Z,1629057173.032 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:53.441Z,1629057173.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,004FF,189,80,80,AF,FF
2021-08-15T19:52:53.441Z,1629057173.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:53.442Z,1629057173.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:53.445Z,1629057173.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:53.861Z,1629057173.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:54.237Z,1629057174.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00504,189,80,80,77,FF
2021-08-15T19:52:54.238Z,1629057174.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:54.312Z,1629057174.312 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:54.676Z,1629057174.676 [Micromodem](INFO): Nmea in: $SNTTA,0.053090,,,,195254.63*44

2021-08-15T19:52:54.702Z,1629057174.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 55.557356 deg, deltaT: 4.429706 s, approachRate: 0.067724 m/s, LOS rate: 0.031957 deg/s, posRepo size: 4
2021-08-15T19:52:57.101Z,1629057177.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:52:57.481Z,1629057177.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:52:57.481Z,1629057177.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:52:57.481Z,1629057177.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:52:57.482Z,1629057177.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:52:57.877Z,1629057177.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00504,189,80,80,77,FF
2021-08-15T19:52:57.877Z,1629057177.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:52:57.877Z,1629057177.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:52:57.879Z,1629057177.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:52:58.285Z,1629057178.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:52:58.681Z,1629057178.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0050B,189,80,80,AC,FF
2021-08-15T19:52:58.682Z,1629057178.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:52:58.758Z,1629057178.758 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:52:59.125Z,1629057179.125 [Micromodem](INFO): Nmea in: $SNTTA,0.117493,,,,195259.07*4D

2021-08-15T19:52:59.154Z,1629057179.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 55.527273 deg, deltaT: 4.446034 s, approachRate: 0.094466 m/s, LOS rate: -0.006766 deg/s, posRepo size: 4
2021-08-15T19:53:01.567Z,1629057181.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:01.913Z,1629057181.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:01.913Z,1629057181.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:01.913Z,1629057181.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:01.914Z,1629057181.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:02.329Z,1629057182.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0050B,189,80,80,AC,FF
2021-08-15T19:53:02.329Z,1629057182.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:02.329Z,1629057182.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:02.331Z,1629057182.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:02.725Z,1629057182.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:03.129Z,1629057183.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00511,189,80,80,A6,FF
2021-08-15T19:53:03.130Z,1629057183.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:03.149Z,1629057183.149 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:53:03.553Z,1629057183.553 [Micromodem](INFO): Nmea in: $SNTTA,0.212606,,,,195303.52*4B

2021-08-15T19:53:03.642Z,1629057183.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.319996 m, bearing: 55.547531 deg, deltaT: 4.390728 s, approachRate: 0.081990 m/s, LOS rate: 0.004614 deg/s, posRepo size: 4
2021-08-15T19:53:04.005Z,1629057184.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T19:53:04.005Z,1629057184.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:53:04.005Z,1629057184.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T19:53:04.006Z,1629057184.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T19:53:04.006Z,1629057184.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T19:53:04.006Z,1629057184.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T19:53:04.408Z,1629057184.408 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T19:53:04.408Z,1629057184.408 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:53:04.409Z,1629057184.409 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T19:53:04.409Z,1629057184.409 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T19:53:06.009Z,1629057186.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:06.372Z,1629057186.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:06.372Z,1629057186.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:06.373Z,1629057186.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:06.374Z,1629057186.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:06.761Z,1629057186.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00511,189,80,80,A6,FF
2021-08-15T19:53:06.761Z,1629057186.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:06.761Z,1629057186.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:06.763Z,1629057186.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:07.168Z,1629057187.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:07.581Z,1629057187.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00515,189,80,80,AA,FF
2021-08-15T19:53:07.583Z,1629057187.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:07.613Z,1629057187.613 [Micromodem](INFO): Nmea in: $SNTTA,0.052351,0.307188,,,195307.95*5E

2021-08-15T19:53:08.015Z,1629057188.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 55.132853 deg, deltaT: 4.544820 s, approachRate: 0.052808 m/s, LOS rate: -0.091242 deg/s, posRepo size: 4
2021-08-15T19:53:10.461Z,1629057190.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:10.797Z,1629057190.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:10.797Z,1629057190.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:10.797Z,1629057190.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:10.798Z,1629057190.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:11.214Z,1629057191.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00515,189,80,80,AA,FF
2021-08-15T19:53:11.214Z,1629057191.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:11.214Z,1629057191.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:11.216Z,1629057191.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:11.657Z,1629057191.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:12.021Z,1629057192.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0051D,189,80,80,B1,FF
2021-08-15T19:53:12.022Z,1629057192.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:12.453Z,1629057192.453 [Micromodem](INFO): Nmea in: $SNTTA,0.053496,,,,195312.41*45

2021-08-15T19:53:12.499Z,1629057192.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 54.911610 deg, deltaT: 4.352099 s, approachRate: 0.110292 m/s, LOS rate: -0.050836 deg/s, posRepo size: 4
2021-08-15T19:53:14.882Z,1629057194.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:15.245Z,1629057195.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:15.245Z,1629057195.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:15.245Z,1629057195.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:15.246Z,1629057195.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:15.657Z,1629057195.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0051D,189,80,80,B1,FF
2021-08-15T19:53:15.657Z,1629057195.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:15.657Z,1629057195.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:15.659Z,1629057195.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:16.057Z,1629057196.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:16.457Z,1629057196.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00524,189,80,80,88,FF
2021-08-15T19:53:16.457Z,1629057196.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:16.901Z,1629057196.901 [Micromodem](INFO): Nmea in: $SNTTA,0.059115,,,,195316.85*4D

2021-08-15T19:53:16.923Z,1629057196.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.459999 m, bearing: 54.492554 deg, deltaT: 4.482098 s, approachRate: 0.093707 m/s, LOS rate: -0.093496 deg/s, posRepo size: 4
2021-08-15T19:53:19.336Z,1629057199.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:19.689Z,1629057199.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:19.689Z,1629057199.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:19.689Z,1629057199.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:19.690Z,1629057199.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:20.093Z,1629057200.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00524,189,80,80,88,FF
2021-08-15T19:53:20.093Z,1629057200.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:20.093Z,1629057200.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:20.095Z,1629057200.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:20.509Z,1629057200.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:20.901Z,1629057200.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0052B,189,80,80,AA,FF
2021-08-15T19:53:20.902Z,1629057200.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:21.364Z,1629057201.364 [Micromodem](INFO): Nmea in: $SNTTA,0.090093,,,,195321.28*44

2021-08-15T19:53:21.404Z,1629057201.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.879997 m, bearing: 54.073843 deg, deltaT: 4.420271 s, approachRate: 0.095016 m/s, LOS rate: -0.094725 deg/s, posRepo size: 4
2021-08-15T19:53:23.810Z,1629057203.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:24.141Z,1629057204.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:24.142Z,1629057204.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:24.142Z,1629057204.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:24.143Z,1629057204.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:24.541Z,1629057204.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0052B,189,80,80,AA,FF
2021-08-15T19:53:24.541Z,1629057204.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:24.542Z,1629057204.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:24.547Z,1629057204.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:24.944Z,1629057204.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:25.354Z,1629057205.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00533,189,80,80,A5,FF
2021-08-15T19:53:25.354Z,1629057205.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:25.792Z,1629057205.792 [Micromodem](INFO): Nmea in: $SNTTA,0.042546,,,,195325.74*4B

2021-08-15T19:53:25.882Z,1629057205.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 53.577903 deg, deltaT: 4.429433 s, approachRate: 0.108367 m/s, LOS rate: -0.111965 deg/s, posRepo size: 4
2021-08-15T19:53:28.231Z,1629057208.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:28.589Z,1629057208.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:28.589Z,1629057208.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:28.589Z,1629057208.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:28.590Z,1629057208.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:28.982Z,1629057208.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00533,189,80,80,A5,FF
2021-08-15T19:53:28.983Z,1629057208.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:28.983Z,1629057208.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:28.988Z,1629057208.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:29.391Z,1629057209.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:29.793Z,1629057209.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0053F,189,80,80,7C,FF
2021-08-15T19:53:29.793Z,1629057209.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:30.250Z,1629057210.250 [Micromodem](INFO): Nmea in: $SNTTA,,0.194968,,,195330.18*4F

2021-08-15T19:53:30.280Z,1629057210.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 52.929281 deg, deltaT: 4.483154 s, approachRate: 0.160601 m/s, LOS rate: -0.144680 deg/s, posRepo size: 4
2021-08-15T19:53:32.663Z,1629057212.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:33.033Z,1629057213.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:33.033Z,1629057213.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:33.033Z,1629057213.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:33.034Z,1629057213.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:33.429Z,1629057213.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0053F,189,80,80,7C,FF
2021-08-15T19:53:33.429Z,1629057213.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:33.430Z,1629057213.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:33.431Z,1629057213.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:33.858Z,1629057213.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:34.233Z,1629057214.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00540,189,80,80,B6,FF
2021-08-15T19:53:34.234Z,1629057214.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:34.689Z,1629057214.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195334.62*53

2021-08-15T19:53:34.744Z,1629057214.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 52.487039 deg, deltaT: 4.423754 s, approachRate: 0.013563 m/s, LOS rate: -0.099970 deg/s, posRepo size: 4
2021-08-15T19:53:37.091Z,1629057217.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:37.477Z,1629057217.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:37.477Z,1629057217.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:37.478Z,1629057217.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:37.479Z,1629057217.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:37.869Z,1629057217.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00540,189,80,80,B6,FF
2021-08-15T19:53:37.870Z,1629057217.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:37.870Z,1629057217.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:37.871Z,1629057217.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:38.283Z,1629057218.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:38.705Z,1629057218.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00546,189,80,80,A4,FF
2021-08-15T19:53:38.706Z,1629057218.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:39.109Z,1629057219.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195339.06*5C

2021-08-15T19:53:39.149Z,1629057219.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 52.037312 deg, deltaT: 4.495436 s, approachRate: 0.080081 m/s, LOS rate: -0.100041 deg/s, posRepo size: 4
2021-08-15T19:53:41.602Z,1629057221.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:41.909Z,1629057221.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:41.909Z,1629057221.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:41.909Z,1629057221.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:41.910Z,1629057221.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:42.325Z,1629057222.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00546,189,80,80,A4,FF
2021-08-15T19:53:42.325Z,1629057222.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:42.325Z,1629057222.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:42.327Z,1629057222.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:42.721Z,1629057222.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:43.130Z,1629057223.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00549,189,80,80,B5,FF
2021-08-15T19:53:43.130Z,1629057223.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:43.560Z,1629057223.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195343.52*50

2021-08-15T19:53:43.636Z,1629057223.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 52.009551 deg, deltaT: 4.371444 s, approachRate: 0.041176 m/s, LOS rate: -0.006351 deg/s, posRepo size: 4
2021-08-15T19:53:46.011Z,1629057226.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:46.354Z,1629057226.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:46.354Z,1629057226.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:46.355Z,1629057226.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:46.355Z,1629057226.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:46.757Z,1629057226.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00549,189,80,80,B5,FF
2021-08-15T19:53:46.757Z,1629057226.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:46.757Z,1629057226.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:46.759Z,1629057226.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:47.170Z,1629057227.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:47.581Z,1629057227.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00556,189,80,80,9D,FF
2021-08-15T19:53:47.582Z,1629057227.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:47.609Z,1629057227.609 [Micromodem](INFO): Nmea in: $SNTTA,0.307050,0.307550,,,195347.95*5A

2021-08-15T19:53:48.011Z,1629057228.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 51.795848 deg, deltaT: 4.588868 s, approachRate: 0.169976 m/s, LOS rate: -0.046570 deg/s, posRepo size: 4
2021-08-15T19:53:50.456Z,1629057230.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:50.797Z,1629057230.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:50.797Z,1629057230.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:50.797Z,1629057230.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:50.798Z,1629057230.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:51.222Z,1629057231.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00556,189,80,80,9D,FF
2021-08-15T19:53:51.222Z,1629057231.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:51.223Z,1629057231.223 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:51.226Z,1629057231.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:51.661Z,1629057231.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:52.009Z,1629057232.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055C,189,80,80,B2,FF
2021-08-15T19:53:52.010Z,1629057232.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:52.440Z,1629057232.440 [Micromodem](INFO): Nmea in: $SNTTA,0.029540,,,,195352.42*45

2021-08-15T19:53:52.459Z,1629057232.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.820000 m, bearing: 51.908608 deg, deltaT: 4.346001 s, approachRate: 0.082835 m/s, LOS rate: 0.025946 deg/s, posRepo size: 4
2021-08-15T19:53:54.864Z,1629057234.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:55.237Z,1629057235.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:55.237Z,1629057235.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:55.237Z,1629057235.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:55.238Z,1629057235.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:53:55.657Z,1629057235.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055C,189,80,80,B2,FF
2021-08-15T19:53:55.657Z,1629057235.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:53:55.657Z,1629057235.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:53:55.659Z,1629057235.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:53:56.053Z,1629057236.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:53:56.458Z,1629057236.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00565,189,80,80,BC,FF
2021-08-15T19:53:56.458Z,1629057236.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:53:56.882Z,1629057236.882 [Micromodem](INFO): Nmea in: $SNTTA,0.060188,,,,195356.85*47

2021-08-15T19:53:56.909Z,1629057236.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.360001 m, bearing: 52.041339 deg, deltaT: 4.395492 s, approachRate: 0.122853 m/s, LOS rate: 0.030197 deg/s, posRepo size: 4
2021-08-15T19:53:59.322Z,1629057239.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:53:59.686Z,1629057239.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:53:59.686Z,1629057239.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:53:59.686Z,1629057239.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:53:59.687Z,1629057239.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:00.097Z,1629057240.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00565,189,80,80,BC,FF
2021-08-15T19:54:00.097Z,1629057240.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:00.097Z,1629057240.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:00.099Z,1629057240.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:00.501Z,1629057240.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:00.909Z,1629057240.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00569,189,80,80,8C,FF
2021-08-15T19:54:00.910Z,1629057240.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:01.329Z,1629057241.329 [Micromodem](INFO): Nmea in: $SNTTA,0.039593,,,,195401.29*46

2021-08-15T19:54:01.380Z,1629057241.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 52.310851 deg, deltaT: 4.484498 s, approachRate: 0.053517 m/s, LOS rate: 0.060099 deg/s, posRepo size: 4
2021-08-15T19:54:03.817Z,1629057243.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:04.133Z,1629057244.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:04.134Z,1629057244.134 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:04.134Z,1629057244.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:04.135Z,1629057244.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:04.535Z,1629057244.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00569,189,80,80,8C,FF
2021-08-15T19:54:04.535Z,1629057244.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:04.535Z,1629057244.535 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:04.558Z,1629057244.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:04.955Z,1629057244.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:05.345Z,1629057245.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00577,189,80,80,80,FF
2021-08-15T19:54:05.345Z,1629057245.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:05.789Z,1629057245.789 [Micromodem](INFO): Nmea in: $SNTTA,0.068545,,,,195405.75*44

2021-08-15T19:54:05.855Z,1629057245.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 52.658228 deg, deltaT: 4.430402 s, approachRate: 0.189599 m/s, LOS rate: 0.078407 deg/s, posRepo size: 4
2021-08-15T19:54:08.204Z,1629057248.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:08.588Z,1629057248.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:08.589Z,1629057248.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:08.589Z,1629057248.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:08.590Z,1629057248.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:08.981Z,1629057248.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00577,189,80,80,80,FF
2021-08-15T19:54:08.981Z,1629057248.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:08.981Z,1629057248.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:08.983Z,1629057248.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:09.393Z,1629057249.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:09.793Z,1629057249.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057B,189,80,80,A7,FF
2021-08-15T19:54:09.794Z,1629057249.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:10.225Z,1629057250.225 [Micromodem](INFO): Nmea in: $SNTTA,0.038750,,,,195410.17*47

2021-08-15T19:54:10.257Z,1629057250.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 53.138721 deg, deltaT: 4.469601 s, approachRate: 0.053696 m/s, LOS rate: 0.107503 deg/s, posRepo size: 4
2021-08-15T19:54:12.669Z,1629057252.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:13.017Z,1629057253.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:13.017Z,1629057253.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:13.017Z,1629057253.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:13.018Z,1629057253.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:13.421Z,1629057253.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057B,189,80,80,A7,FF
2021-08-15T19:54:13.422Z,1629057253.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:13.422Z,1629057253.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:13.424Z,1629057253.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:13.829Z,1629057253.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:14.238Z,1629057254.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00584,189,80,80,8E,FF
2021-08-15T19:54:14.238Z,1629057254.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:14.683Z,1629057254.683 [Micromodem](INFO): Nmea in: $SNTTA,0.067183,,,,195414.62*43

2021-08-15T19:54:14.709Z,1629057254.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 53.286271 deg, deltaT: 4.390367 s, approachRate: 0.122996 m/s, LOS rate: 0.033607 deg/s, posRepo size: 4
2021-08-15T19:54:17.074Z,1629057257.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:17.457Z,1629057257.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:17.457Z,1629057257.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:17.457Z,1629057257.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:17.458Z,1629057257.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:17.869Z,1629057257.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00584,189,80,80,8E,FF
2021-08-15T19:54:17.869Z,1629057257.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:17.869Z,1629057257.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:17.871Z,1629057257.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:18.275Z,1629057258.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:18.673Z,1629057258.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0058B,188,80,80,B4,FF
2021-08-15T19:54:18.674Z,1629057258.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:19.101Z,1629057259.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195419.06*59

2021-08-15T19:54:19.123Z,1629057259.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.639999 m, bearing: 53.468913 deg, deltaT: 4.497901 s, approachRate: 0.093377 m/s, LOS rate: 0.040606 deg/s, posRepo size: 4
2021-08-15T19:54:21.518Z,1629057261.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:21.905Z,1629057261.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:21.905Z,1629057261.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:21.905Z,1629057261.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:21.906Z,1629057261.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:22.319Z,1629057262.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0058B,188,80,80,B4,FF
2021-08-15T19:54:22.319Z,1629057262.319 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:22.319Z,1629057262.319 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:22.321Z,1629057262.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:22.717Z,1629057262.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:23.121Z,1629057263.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00592,189,80,80,B4,FF
2021-08-15T19:54:23.121Z,1629057263.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:23.554Z,1629057263.554 [Micromodem](INFO): Nmea in: $SNTTA,0.071162,,,,195423.51*4F

2021-08-15T19:54:23.631Z,1629057263.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 53.649589 deg, deltaT: 4.386469 s, approachRate: 0.095749 m/s, LOS rate: 0.041189 deg/s, posRepo size: 4
2021-08-15T19:54:26.006Z,1629057266.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:26.355Z,1629057266.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:26.355Z,1629057266.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:26.355Z,1629057266.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:26.357Z,1629057266.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:26.753Z,1629057266.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00592,189,80,80,B4,FF
2021-08-15T19:54:26.753Z,1629057266.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:26.753Z,1629057266.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:26.755Z,1629057266.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:27.165Z,1629057267.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:27.573Z,1629057267.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0059A,189,80,80,95,FF
2021-08-15T19:54:27.575Z,1629057267.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:27.607Z,1629057267.607 [Micromodem](INFO): Nmea in: $SNTTA,0.044334,0.310753,,,195427.95*59

2021-08-15T19:54:27.999Z,1629057267.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.540005 m, bearing: 54.013146 deg, deltaT: 4.546609 s, approachRate: 0.105574 m/s, LOS rate: 0.079962 deg/s, posRepo size: 4
2021-08-15T19:54:30.430Z,1629057270.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:30.817Z,1629057270.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:30.817Z,1629057270.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:30.817Z,1629057270.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:30.818Z,1629057270.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:31.209Z,1629057271.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0059A,189,80,80,95,FF
2021-08-15T19:54:31.209Z,1629057271.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:31.210Z,1629057271.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:31.211Z,1629057271.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:31.677Z,1629057271.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:31.688Z,1629057271.688 [Micromodem](INFO): Nmea in: 3

2021-08-15T19:54:31.689Z,1629057271.689 [Micromodem](ERROR): Response from modem failed NMEA checksum: 3
 expected 0
2021-08-15T19:54:32.021Z,1629057272.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0059F,189,80,80,BB,FF
2021-08-15T19:54:32.022Z,1629057272.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:32.468Z,1629057272.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 54.210901 deg, deltaT: 4.352797 s, approachRate: 0.068919 m/s, LOS rate: 0.045432 deg/s, posRepo size: 4
2021-08-15T19:54:34.874Z,1629057274.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:35.257Z,1629057275.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:35.257Z,1629057275.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:35.257Z,1629057275.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:35.258Z,1629057275.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:35.670Z,1629057275.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0059F,189,80,80,BB,FF
2021-08-15T19:54:35.670Z,1629057275.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:35.670Z,1629057275.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:35.672Z,1629057275.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:36.077Z,1629057276.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:36.465Z,1629057276.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A7,189,80,80,9F,FF
2021-08-15T19:54:36.466Z,1629057276.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:36.909Z,1629057276.909 [Micromodem](INFO): Nmea in: $SNTTA,0.058100,,,,195436.87*4F

2021-08-15T19:54:36.947Z,1629057276.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 54.379743 deg, deltaT: 4.444570 s, approachRate: 0.107998 m/s, LOS rate: 0.037988 deg/s, posRepo size: 4
2021-08-15T19:54:39.326Z,1629057279.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:39.708Z,1629057279.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:39.708Z,1629057279.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:39.708Z,1629057279.708 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:39.712Z,1629057279.712 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:40.113Z,1629057280.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A7,189,80,80,9F,FF
2021-08-15T19:54:40.113Z,1629057280.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:40.113Z,1629057280.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:40.115Z,1629057280.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:40.521Z,1629057280.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:40.933Z,1629057280.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AD,188,80,80,A3,FF
2021-08-15T19:54:40.934Z,1629057280.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:41.357Z,1629057281.357 [Micromodem](INFO): Nmea in: $SNTTA,0.051037,,,,195441.31*4E

2021-08-15T19:54:41.380Z,1629057281.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 54.643402 deg, deltaT: 4.477488 s, approachRate: 0.080402 m/s, LOS rate: 0.058885 deg/s, posRepo size: 4
2021-08-15T19:54:43.825Z,1629057283.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:44.150Z,1629057284.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:44.150Z,1629057284.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:44.150Z,1629057284.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:44.151Z,1629057284.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:44.549Z,1629057284.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AD,188,80,80,A3,FF
2021-08-15T19:54:44.549Z,1629057284.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:44.550Z,1629057284.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:44.555Z,1629057284.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:44.975Z,1629057284.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:45.354Z,1629057285.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005B6,189,80,80,BF,FF
2021-08-15T19:54:45.354Z,1629057285.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:45.775Z,1629057285.775 [Micromodem](INFO): Nmea in: $SNTTA,0.449751,0.449726,,,195445.75*54

2021-08-15T19:54:45.857Z,1629057285.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.219994 m, bearing: 55.107745 deg, deltaT: 4.443758 s, approachRate: 0.121518 m/s, LOS rate: 0.104493 deg/s, posRepo size: 4
2021-08-15T19:54:48.225Z,1629057288.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:48.597Z,1629057288.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:48.597Z,1629057288.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:48.598Z,1629057288.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:48.599Z,1629057288.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:48.995Z,1629057288.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005B6,189,80,80,BF,FF
2021-08-15T19:54:48.996Z,1629057288.996 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:48.996Z,1629057288.996 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:48.999Z,1629057288.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:49.397Z,1629057289.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:49.801Z,1629057289.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005BE,189,80,80,B5,FF
2021-08-15T19:54:49.802Z,1629057289.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:50.245Z,1629057290.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195450.19*5A

2021-08-15T19:54:50.268Z,1629057290.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 55.643007 deg, deltaT: 4.520404 s, approachRate: 0.106186 m/s, LOS rate: 0.118410 deg/s, posRepo size: 4
2021-08-15T19:54:52.682Z,1629057292.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:53.033Z,1629057293.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:53.033Z,1629057293.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:53.033Z,1629057293.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:53.034Z,1629057293.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:53.434Z,1629057293.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005BE,189,80,80,B5,FF
2021-08-15T19:54:53.434Z,1629057293.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:53.434Z,1629057293.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:53.436Z,1629057293.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:53.846Z,1629057293.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:54.241Z,1629057294.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C5,189,80,80,BD,FF
2021-08-15T19:54:54.242Z,1629057294.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:54.691Z,1629057294.691 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195454.63*53

2021-08-15T19:54:54.754Z,1629057294.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 56.311092 deg, deltaT: 4.367951 s, approachRate: 0.096155 m/s, LOS rate: 0.152952 deg/s, posRepo size: 4
2021-08-15T19:54:57.092Z,1629057297.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:54:57.473Z,1629057297.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:54:57.473Z,1629057297.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:54:57.473Z,1629057297.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:54:57.474Z,1629057297.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:54:57.881Z,1629057297.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C5,189,80,80,BD,FF
2021-08-15T19:54:57.881Z,1629057297.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:54:57.881Z,1629057297.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:54:57.883Z,1629057297.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:54:58.294Z,1629057298.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:54:58.685Z,1629057298.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CA,18A,80,80,BE,FF
2021-08-15T19:54:58.685Z,1629057298.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:54:59.122Z,1629057299.122 [Micromodem](INFO): Nmea in: $SNTTA,0.060723,,,,195459.08*4D

2021-08-15T19:54:59.137Z,1629057299.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 57.008147 deg, deltaT: 4.444345 s, approachRate: 0.067502 m/s, LOS rate: 0.156841 deg/s, posRepo size: 4
2021-08-15T19:55:01.545Z,1629057301.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:01.917Z,1629057301.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:01.917Z,1629057301.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:01.917Z,1629057301.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:01.918Z,1629057301.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:02.325Z,1629057302.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CA,18A,80,80,BE,FF
2021-08-15T19:55:02.325Z,1629057302.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:02.325Z,1629057302.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:02.327Z,1629057302.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:02.733Z,1629057302.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:03.129Z,1629057303.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D0,189,80,80,C1,FF
2021-08-15T19:55:03.129Z,1629057303.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:03.597Z,1629057303.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195503.52*52

2021-08-15T19:55:03.701Z,1629057303.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.779999 m, bearing: 57.595147 deg, deltaT: 4.445983 s, approachRate: 0.080971 m/s, LOS rate: 0.132029 deg/s, posRepo size: 4
2021-08-15T19:55:06.111Z,1629057306.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:06.357Z,1629057306.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:06.357Z,1629057306.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:06.358Z,1629057306.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:06.359Z,1629057306.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:06.765Z,1629057306.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D0,189,80,80,C1,FF
2021-08-15T19:55:06.766Z,1629057306.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:06.766Z,1629057306.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:06.768Z,1629057306.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:07.182Z,1629057307.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:07.605Z,1629057307.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D9,189,80,80,B0,FF
2021-08-15T19:55:07.606Z,1629057307.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:07.990Z,1629057307.990 [Micromodem](INFO): Nmea in: $SNTTA,0.303755,0.343187,,,195507.96*53

2021-08-15T19:55:08.031Z,1629057308.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.319996 m, bearing: 58.082344 deg, deltaT: 4.535668 s, approachRate: 0.119056 m/s, LOS rate: 0.107415 deg/s, posRepo size: 4
2021-08-15T19:55:10.427Z,1629057310.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:10.805Z,1629057310.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:10.805Z,1629057310.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:10.805Z,1629057310.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:10.806Z,1629057310.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:11.217Z,1629057311.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D9,189,80,80,B0,FF
2021-08-15T19:55:11.217Z,1629057311.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:11.217Z,1629057311.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:11.219Z,1629057311.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:11.657Z,1629057311.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:12.029Z,1629057312.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DF,18A,80,80,BF,FF
2021-08-15T19:55:12.030Z,1629057312.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:12.459Z,1629057312.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195512.42*53

2021-08-15T19:55:12.492Z,1629057312.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.680004 m, bearing: 58.617244 deg, deltaT: 4.394751 s, approachRate: 0.081918 m/s, LOS rate: 0.121713 deg/s, posRepo size: 4
2021-08-15T19:55:14.889Z,1629057314.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:15.249Z,1629057315.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:15.249Z,1629057315.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:15.249Z,1629057315.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:15.250Z,1629057315.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:15.661Z,1629057315.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DF,18A,80,80,BF,FF
2021-08-15T19:55:15.661Z,1629057315.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:15.661Z,1629057315.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:15.663Z,1629057315.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:16.068Z,1629057316.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:16.465Z,1629057316.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E9,189,80,80,B4,FF
2021-08-15T19:55:16.466Z,1629057316.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:16.902Z,1629057316.902 [Micromodem](INFO): Nmea in: $SNTTA,0.045173,,,,195516.86*45

2021-08-15T19:55:16.928Z,1629057316.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 59.154472 deg, deltaT: 4.389548 s, approachRate: 0.136688 m/s, LOS rate: 0.122388 deg/s, posRepo size: 4
2021-08-15T19:55:19.322Z,1629057319.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:19.701Z,1629057319.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:19.701Z,1629057319.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:19.701Z,1629057319.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:19.702Z,1629057319.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:20.105Z,1629057320.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E9,189,80,80,B4,FF
2021-08-15T19:55:20.105Z,1629057320.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:20.106Z,1629057320.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:20.107Z,1629057320.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:20.513Z,1629057320.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:20.905Z,1629057320.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005EE,18A,80,80,B6,FF
2021-08-15T19:55:20.906Z,1629057320.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:21.342Z,1629057321.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195521.30*56

2021-08-15T19:55:21.358Z,1629057321.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 59.626042 deg, deltaT: 4.454430 s, approachRate: 0.067348 m/s, LOS rate: 0.105865 deg/s, posRepo size: 4
2021-08-15T19:55:23.805Z,1629057323.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:24.137Z,1629057324.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:24.137Z,1629057324.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:24.138Z,1629057324.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:24.139Z,1629057324.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:24.545Z,1629057324.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005EE,18A,80,80,B6,FF
2021-08-15T19:55:24.546Z,1629057324.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:24.546Z,1629057324.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:24.547Z,1629057324.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:24.959Z,1629057324.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:25.354Z,1629057325.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F5,189,80,80,B2,FF
2021-08-15T19:55:25.354Z,1629057325.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:25.790Z,1629057325.790 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195525.74*52

2021-08-15T19:55:25.855Z,1629057325.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.999996 m, bearing: 59.762803 deg, deltaT: 4.449964 s, approachRate: 0.094382 m/s, LOS rate: 0.030733 deg/s, posRepo size: 4
2021-08-15T19:55:28.211Z,1629057328.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:28.584Z,1629057328.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:28.585Z,1629057328.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:28.585Z,1629057328.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:28.586Z,1629057328.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:29.001Z,1629057329.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F5,189,80,80,B2,FF
2021-08-15T19:55:29.001Z,1629057329.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:29.001Z,1629057329.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:29.003Z,1629057329.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:29.401Z,1629057329.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:29.797Z,1629057329.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FC,18A,80,80,BA,FF
2021-08-15T19:55:29.798Z,1629057329.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:29.801Z,1629057329.801 [Micromodem](INFO): Nmea in: $SNTTA,0.225840,0.226484,,,195530.19*5A

2021-08-15T19:55:30.232Z,1629057330.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.419998 m, bearing: 59.994162 deg, deltaT: 4.484021 s, approachRate: 0.093666 m/s, LOS rate: 0.051596 deg/s, posRepo size: 4
2021-08-15T19:55:32.676Z,1629057332.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:33.025Z,1629057333.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:33.025Z,1629057333.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:33.025Z,1629057333.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:33.026Z,1629057333.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:33.425Z,1629057333.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FC,18A,80,80,BA,FF
2021-08-15T19:55:33.425Z,1629057333.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:33.426Z,1629057333.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:33.427Z,1629057333.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:33.844Z,1629057333.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:34.237Z,1629057334.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00603,189,80,80,B2,FF
2021-08-15T19:55:34.238Z,1629057334.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:34.670Z,1629057334.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195534.65*52

2021-08-15T19:55:34.696Z,1629057334.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 60.138245 deg, deltaT: 4.405672 s, approachRate: 0.095332 m/s, LOS rate: 0.032704 deg/s, posRepo size: 4
2021-08-15T19:55:37.120Z,1629057337.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:37.473Z,1629057337.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:37.473Z,1629057337.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:37.473Z,1629057337.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:37.474Z,1629057337.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:37.882Z,1629057337.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00603,189,80,80,B2,FF
2021-08-15T19:55:37.882Z,1629057337.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:37.882Z,1629057337.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:37.885Z,1629057337.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:38.287Z,1629057338.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:38.690Z,1629057338.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0060B,18A,80,80,BD,FF
2021-08-15T19:55:38.690Z,1629057338.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:39.121Z,1629057339.121 [Micromodem](INFO): Nmea in: $SNTTA,0.041486,,,,195539.08*45

2021-08-15T19:55:39.161Z,1629057339.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.320004 m, bearing: 60.037704 deg, deltaT: 4.413909 s, approachRate: 0.108748 m/s, LOS rate: -0.022778 deg/s, posRepo size: 4
2021-08-15T19:55:41.530Z,1629057341.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:41.919Z,1629057341.919 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:41.919Z,1629057341.919 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:41.919Z,1629057341.919 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:41.920Z,1629057341.920 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:42.330Z,1629057342.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0060B,18A,80,80,BD,FF
2021-08-15T19:55:42.330Z,1629057342.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:42.330Z,1629057342.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:42.332Z,1629057342.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:42.727Z,1629057342.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:43.121Z,1629057343.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00613,189,80,80,BA,FF
2021-08-15T19:55:43.122Z,1629057343.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:43.574Z,1629057343.574 [Micromodem](INFO): Nmea in: $SNTTA,0.052558,,,,195543.53*46

2021-08-15T19:55:43.661Z,1629057343.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.799995 m, bearing: 60.346518 deg, deltaT: 4.443743 s, approachRate: 0.108015 m/s, LOS rate: 0.069494 deg/s, posRepo size: 4
2021-08-15T19:55:45.664Z,1629057345.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:45.953Z,1629057345.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:45.953Z,1629057345.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:45.953Z,1629057345.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:45.954Z,1629057345.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:46.365Z,1629057346.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00613,189,80,80,BA,FF
2021-08-15T19:55:46.365Z,1629057346.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:46.365Z,1629057346.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:46.367Z,1629057346.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:46.764Z,1629057346.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:47.169Z,1629057347.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0061C,189,80,80,C3,FF
2021-08-15T19:55:47.170Z,1629057347.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:47.646Z,1629057347.646 [Micromodem](INFO): Nmea in: $SNTTA,0.078640,,,,195547.56*45

2021-08-15T19:55:47.702Z,1629057347.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 60.727123 deg, deltaT: 4.032089 s, approachRate: 0.133927 m/s, LOS rate: 0.094394 deg/s, posRepo size: 4
2021-08-15T19:55:49.720Z,1629057349.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:50.001Z,1629057350.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:50.001Z,1629057350.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:50.001Z,1629057350.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:50.002Z,1629057350.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:50.417Z,1629057350.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0061C,189,80,80,C3,FF
2021-08-15T19:55:50.417Z,1629057350.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:50.417Z,1629057350.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:50.419Z,1629057350.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:50.821Z,1629057350.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:51.233Z,1629057351.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00623,189,80,80,BB,FF
2021-08-15T19:55:51.233Z,1629057351.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:51.678Z,1629057351.678 [Micromodem](INFO): Nmea in: $SNTTA,0.048188,,,,195551.61*46

2021-08-15T19:55:51.771Z,1629057351.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 61.534513 deg, deltaT: 4.063144 s, approachRate: 0.103369 m/s, LOS rate: 0.198711 deg/s, posRepo size: 4
2021-08-15T19:55:54.088Z,1629057354.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:54.449Z,1629057354.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:54.449Z,1629057354.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:54.449Z,1629057354.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:54.450Z,1629057354.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:54.857Z,1629057354.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00623,189,80,80,BB,FF
2021-08-15T19:55:54.858Z,1629057354.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:54.858Z,1629057354.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:54.859Z,1629057354.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:55.260Z,1629057355.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:55:55.665Z,1629057355.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0062A,189,80,80,B4,FF
2021-08-15T19:55:55.666Z,1629057355.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:55:56.097Z,1629057356.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195556.05*50

2021-08-15T19:55:56.126Z,1629057356.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.180004 m, bearing: 62.794785 deg, deltaT: 4.494973 s, approachRate: 0.093438 m/s, LOS rate: 0.280374 deg/s, posRepo size: 4
2021-08-15T19:55:58.502Z,1629057358.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:55:58.889Z,1629057358.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:55:58.889Z,1629057358.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:55:58.889Z,1629057358.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:55:58.890Z,1629057358.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:55:59.290Z,1629057359.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0062A,189,80,80,B4,FF
2021-08-15T19:55:59.290Z,1629057359.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:55:59.290Z,1629057359.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:55:59.293Z,1629057359.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:55:59.694Z,1629057359.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:00.106Z,1629057360.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00634,189,80,80,C0,FF
2021-08-15T19:56:00.106Z,1629057360.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:00.536Z,1629057360.536 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195600.49*58

2021-08-15T19:56:00.601Z,1629057360.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.780003 m, bearing: 63.915763 deg, deltaT: 4.382986 s, approachRate: 0.136893 m/s, LOS rate: 0.255757 deg/s, posRepo size: 4
2021-08-15T19:56:02.961Z,1629057362.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:03.349Z,1629057363.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:03.349Z,1629057363.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:03.350Z,1629057363.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:03.351Z,1629057363.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:03.749Z,1629057363.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00634,189,80,80,C0,FF
2021-08-15T19:56:03.749Z,1629057363.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:03.749Z,1629057363.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:03.751Z,1629057363.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:04.154Z,1629057364.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:04.545Z,1629057364.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00639,18A,80,80,C3,FF
2021-08-15T19:56:04.546Z,1629057364.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:04.986Z,1629057364.986 [Micromodem](INFO): Nmea in: $SNTTA,0.135157,,,,195604.94*46

2021-08-15T19:56:05.012Z,1629057365.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 65.216634 deg, deltaT: 4.495331 s, approachRate: 0.066737 m/s, LOS rate: 0.289383 deg/s, posRepo size: 4
2021-08-15T19:56:07.398Z,1629057367.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:07.792Z,1629057367.792 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:07.792Z,1629057367.792 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:07.792Z,1629057367.792 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:07.793Z,1629057367.793 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:08.181Z,1629057368.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00639,18A,80,80,C3,FF
2021-08-15T19:56:08.181Z,1629057368.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:08.181Z,1629057368.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:08.183Z,1629057368.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:08.617Z,1629057368.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:09.017Z,1629057369.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0063F,189,80,80,C4,FF
2021-08-15T19:56:09.017Z,1629057369.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:09.430Z,1629057369.430 [Micromodem](INFO): Nmea in: $SNTTA,0.046816,,,,195609.38*44

2021-08-15T19:56:09.452Z,1629057369.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.440002 m, bearing: 66.493422 deg, deltaT: 4.411344 s, approachRate: 0.081607 m/s, LOS rate: 0.289433 deg/s, posRepo size: 4
2021-08-15T19:56:09.830Z,1629057369.830 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T19:56:11.864Z,1629057371.864 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T19:56:11.864Z,1629057371.864 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T19:56:11.864Z,1629057371.864 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T19:56:11.913Z,1629057371.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:11.945Z,1629057371.945 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T19:56:12.221Z,1629057372.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:12.221Z,1629057372.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:12.221Z,1629057372.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:12.222Z,1629057372.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:12.304Z,1629057372.304 [RDI_Pathfinder](INFO): Powering down
2021-08-15T19:56:12.649Z,1629057372.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0063F,189,80,80,C4,FF
2021-08-15T19:56:12.649Z,1629057372.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:12.649Z,1629057372.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:12.651Z,1629057372.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:13.037Z,1629057373.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:13.094Z,1629057373.094 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T19:56:13.094Z,1629057373.094 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T19:56:13.437Z,1629057373.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00645,189,80,80,B4,FF
2021-08-15T19:56:13.438Z,1629057373.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:13.857Z,1629057373.857 [Micromodem](INFO): Nmea in: $SNTTA,0.085125,,,,195613.84*4E

2021-08-15T19:56:13.899Z,1629057373.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.799999 m, bearing: 67.319485 deg, deltaT: 4.421312 s, approachRate: 0.081423 m/s, LOS rate: 0.186837 deg/s, posRepo size: 4
2021-08-15T19:56:16.313Z,1629057376.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:16.658Z,1629057376.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:16.658Z,1629057376.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:16.659Z,1629057376.659 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:16.660Z,1629057376.660 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:17.074Z,1629057377.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00645,189,80,80,B4,FF
2021-08-15T19:56:17.074Z,1629057377.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:17.074Z,1629057377.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:17.076Z,1629057377.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:17.473Z,1629057377.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:17.878Z,1629057377.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0064D,189,80,80,BD,FF
2021-08-15T19:56:17.878Z,1629057377.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:18.321Z,1629057378.321 [Micromodem](INFO): Nmea in: $SNTTA,0.048379,,,,195618.27*46

2021-08-15T19:56:18.362Z,1629057378.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 67.965361 deg, deltaT: 4.448935 s, approachRate: 0.107892 m/s, LOS rate: 0.145175 deg/s, posRepo size: 4
2021-08-15T19:56:20.733Z,1629057380.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:21.117Z,1629057381.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:21.117Z,1629057381.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:21.118Z,1629057381.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:21.119Z,1629057381.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:21.513Z,1629057381.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0064D,189,80,80,BD,FF
2021-08-15T19:56:21.513Z,1629057381.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:21.513Z,1629057381.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:21.515Z,1629057381.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:21.928Z,1629057381.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:22.333Z,1629057382.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,00657,18A,80,80,B6,FF
2021-08-15T19:56:22.334Z,1629057382.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:22.761Z,1629057382.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195622.71*53

2021-08-15T19:56:22.792Z,1629057382.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.880005 m, bearing: 168.709129 deg, deltaT: 4.497283 s, approachRate: 0.133414 m/s, LOS rate: 22.401029 deg/s, posRepo size: 4
2021-08-15T19:56:25.189Z,1629057385.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:25.553Z,1629057385.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:25.553Z,1629057385.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:25.553Z,1629057385.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:25.554Z,1629057385.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:25.965Z,1629057385.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,00657,18A,80,80,B6,FF
2021-08-15T19:56:25.965Z,1629057385.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:25.965Z,1629057385.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:25.967Z,1629057385.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:26.377Z,1629057386.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:26.773Z,1629057386.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3C,000,0065C,189,80,80,C6,FF
2021-08-15T19:56:26.774Z,1629057386.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:27.213Z,1629057387.213 [Micromodem](INFO): Nmea in: $SNTTA,0.107750,,,,195627.16*4D

2021-08-15T19:56:27.250Z,1629057387.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 168.674349 deg, deltaT: 4.388542 s, approachRate: 0.068358 m/s, LOS rate: -0.007925 deg/s, posRepo size: 4
2021-08-15T19:56:29.661Z,1629057389.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:30.017Z,1629057390.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:30.017Z,1629057390.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:30.017Z,1629057390.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:30.018Z,1629057390.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:30.421Z,1629057390.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3C,000,0065C,189,80,80,C6,FF
2021-08-15T19:56:30.421Z,1629057390.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:30.421Z,1629057390.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:30.423Z,1629057390.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:30.828Z,1629057390.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:31.217Z,1629057391.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4A,000,00663,18A,80,80,B4,FF
2021-08-15T19:56:31.218Z,1629057391.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:31.673Z,1629057391.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195631.62*53

2021-08-15T19:56:31.731Z,1629057391.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.599998 m, bearing: 168.340599 deg, deltaT: 4.443715 s, approachRate: 0.094516 m/s, LOS rate: -0.075106 deg/s, posRepo size: 4
2021-08-15T19:56:34.102Z,1629057394.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:34.449Z,1629057394.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:34.449Z,1629057394.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:34.450Z,1629057394.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:34.450Z,1629057394.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:34.857Z,1629057394.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4A,000,00663,18A,80,80,B4,FF
2021-08-15T19:56:34.857Z,1629057394.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:34.857Z,1629057394.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:34.859Z,1629057394.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:35.262Z,1629057395.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:35.662Z,1629057395.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D54,000,0066D,189,80,80,C5,FF
2021-08-15T19:56:35.662Z,1629057395.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:36.093Z,1629057396.093 [Micromodem](INFO): Nmea in: $SNTTA,0.046436,,,,195636.05*48

2021-08-15T19:56:36.115Z,1629057396.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.200008 m, bearing: 168.528702 deg, deltaT: 4.512276 s, approachRate: 0.132973 m/s, LOS rate: 0.041687 deg/s, posRepo size: 4
2021-08-15T19:56:38.509Z,1629057398.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:38.885Z,1629057398.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:38.885Z,1629057398.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:38.886Z,1629057398.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:38.887Z,1629057398.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:39.298Z,1629057399.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D54,000,0066D,189,80,80,C5,FF
2021-08-15T19:56:39.298Z,1629057399.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:39.298Z,1629057399.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:39.301Z,1629057399.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:39.698Z,1629057399.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:40.101Z,1629057400.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00677,189,80,80,C0,FF
2021-08-15T19:56:40.101Z,1629057400.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:40.534Z,1629057400.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195640.49*5C

2021-08-15T19:56:40.612Z,1629057400.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.800007 m, bearing: 169.334883 deg, deltaT: 4.372002 s, approachRate: 0.137237 m/s, LOS rate: 0.184396 deg/s, posRepo size: 4
2021-08-15T19:56:43.002Z,1629057403.002 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:43.333Z,1629057403.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:43.333Z,1629057403.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:43.333Z,1629057403.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:43.334Z,1629057403.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:43.743Z,1629057403.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00677,189,80,80,C0,FF
2021-08-15T19:56:43.743Z,1629057403.743 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:43.748Z,1629057403.748 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:43.751Z,1629057403.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:44.144Z,1629057404.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:44.541Z,1629057404.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D65,000,00681,18A,80,80,B5,FF
2021-08-15T19:56:44.542Z,1629057404.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:44.973Z,1629057404.973 [Micromodem](INFO): Nmea in: $SNTTA,0.062914,,,,195644.95*4F

2021-08-15T19:56:44.999Z,1629057404.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 169.814936 deg, deltaT: 4.512649 s, approachRate: 0.132959 m/s, LOS rate: 0.106379 deg/s, posRepo size: 4
2021-08-15T19:56:47.391Z,1629057407.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:47.773Z,1629057407.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:47.773Z,1629057407.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:47.773Z,1629057407.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:47.774Z,1629057407.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:48.185Z,1629057408.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D65,000,00681,18A,80,80,B5,FF
2021-08-15T19:56:48.185Z,1629057408.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:48.185Z,1629057408.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:48.187Z,1629057408.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:48.585Z,1629057408.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:48.983Z,1629057408.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,00686,189,80,80,BB,FF
2021-08-15T19:56:48.983Z,1629057408.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:49.434Z,1629057409.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195649.38*53

2021-08-15T19:56:49.471Z,1629057409.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 171.318575 deg, deltaT: 4.432392 s, approachRate: 0.067683 m/s, LOS rate: 0.339239 deg/s, posRepo size: 4
2021-08-15T19:56:51.894Z,1629057411.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:52.217Z,1629057412.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:52.217Z,1629057412.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:52.217Z,1629057412.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:52.218Z,1629057412.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:52.641Z,1629057412.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,00686,189,80,80,BB,FF
2021-08-15T19:56:52.641Z,1629057412.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:52.641Z,1629057412.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:52.643Z,1629057412.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:53.029Z,1629057413.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:53.433Z,1629057413.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4B,000,0068E,188,80,80,BE,FF
2021-08-15T19:56:53.434Z,1629057413.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:53.861Z,1629057413.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195653.84*5F

2021-08-15T19:56:53.907Z,1629057413.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.180004 m, bearing: 174.023057 deg, deltaT: 4.391236 s, approachRate: 0.109309 m/s, LOS rate: 0.615882 deg/s, posRepo size: 4
2021-08-15T19:56:56.311Z,1629057416.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:56:56.669Z,1629057416.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:56:56.669Z,1629057416.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:56:56.670Z,1629057416.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:56:56.671Z,1629057416.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:56:57.069Z,1629057417.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4B,000,0068E,188,80,80,BE,FF
2021-08-15T19:56:57.069Z,1629057417.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:56:57.070Z,1629057417.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:56:57.071Z,1629057417.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:56:57.481Z,1629057417.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:56:57.881Z,1629057417.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00693,18A,80,80,BB,FF
2021-08-15T19:56:57.882Z,1629057417.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:56:58.313Z,1629057418.313 [Micromodem](INFO): Nmea in: $SNTTA,0.115428,,,,195658.27*48

2021-08-15T19:56:58.351Z,1629057418.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.479996 m, bearing: 76.473134 deg, deltaT: 4.522167 s, approachRate: 0.066338 m/s, LOS rate: -21.571500 deg/s, posRepo size: 4
2021-08-15T19:57:00.749Z,1629057420.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:01.098Z,1629057421.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:01.098Z,1629057421.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:01.099Z,1629057421.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:01.100Z,1629057421.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:01.535Z,1629057421.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00693,18A,80,80,BB,FF
2021-08-15T19:57:01.536Z,1629057421.536 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:01.536Z,1629057421.536 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:01.538Z,1629057421.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:01.924Z,1629057421.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:02.331Z,1629057422.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00699,189,80,80,A9,FF
2021-08-15T19:57:02.332Z,1629057422.332 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:02.753Z,1629057422.753 [Micromodem](INFO): Nmea in: $SNTTA,0.063611,,,,195702.73*4F

2021-08-15T19:57:02.803Z,1629057422.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 77.717868 deg, deltaT: 4.371657 s, approachRate: 0.082351 m/s, LOS rate: 0.284728 deg/s, posRepo size: 4
2021-08-15T19:57:05.166Z,1629057425.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:05.581Z,1629057425.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:05.581Z,1629057425.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:05.581Z,1629057425.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:05.582Z,1629057425.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:05.961Z,1629057425.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00699,189,80,80,A9,FF
2021-08-15T19:57:05.961Z,1629057425.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:05.961Z,1629057425.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:05.963Z,1629057425.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:06.369Z,1629057426.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:06.768Z,1629057426.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A0,189,80,80,B3,FF
2021-08-15T19:57:06.770Z,1629057426.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:07.193Z,1629057427.193 [Micromodem](INFO): Nmea in: $SNTTA,0.091185,,,,195707.16*4E

2021-08-15T19:57:07.232Z,1629057427.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 78.457420 deg, deltaT: 4.483029 s, approachRate: 0.093688 m/s, LOS rate: 0.164967 deg/s, posRepo size: 4
2021-08-15T19:57:09.681Z,1629057429.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:09.997Z,1629057429.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:09.997Z,1629057429.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:09.997Z,1629057429.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:09.998Z,1629057429.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:10.397Z,1629057430.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A0,189,80,80,B3,FF
2021-08-15T19:57:10.397Z,1629057430.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:10.397Z,1629057430.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:10.399Z,1629057430.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:10.805Z,1629057430.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:11.209Z,1629057431.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A7,188,80,80,A6,FF
2021-08-15T19:57:11.210Z,1629057431.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:11.662Z,1629057431.662 [Micromodem](INFO): Nmea in: $SNTTA,0.079917,,,,195711.59*47

2021-08-15T19:57:11.707Z,1629057431.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.680008 m, bearing: 78.853571 deg, deltaT: 4.395041 s, approachRate: 0.095562 m/s, LOS rate: 0.090136 deg/s, posRepo size: 4
2021-08-15T19:57:14.069Z,1629057434.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:14.437Z,1629057434.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:14.437Z,1629057434.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:14.437Z,1629057434.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:14.438Z,1629057434.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:14.845Z,1629057434.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A7,188,80,80,A6,FF
2021-08-15T19:57:14.846Z,1629057434.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:14.846Z,1629057434.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:14.847Z,1629057434.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:15.249Z,1629057435.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:15.657Z,1629057435.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006AE,18A,80,80,A6,FF
2021-08-15T19:57:15.658Z,1629057435.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:16.077Z,1629057436.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195716.04*57

2021-08-15T19:57:16.131Z,1629057436.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.100006 m, bearing: 79.014306 deg, deltaT: 4.531286 s, approachRate: 0.092689 m/s, LOS rate: 0.035472 deg/s, posRepo size: 4
2021-08-15T19:57:18.520Z,1629057438.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:18.881Z,1629057438.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:18.881Z,1629057438.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:18.881Z,1629057438.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:18.882Z,1629057438.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:19.298Z,1629057439.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006AE,18A,80,80,A6,FF
2021-08-15T19:57:19.298Z,1629057439.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:19.298Z,1629057439.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:19.301Z,1629057439.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:19.689Z,1629057439.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:20.098Z,1629057440.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006B4,189,80,80,AB,FF
2021-08-15T19:57:20.098Z,1629057440.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:20.529Z,1629057440.529 [Micromodem](INFO): Nmea in: $SNTTA,0.054183,,,,195720.50*46

2021-08-15T19:57:20.612Z,1629057440.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 79.099806 deg, deltaT: 4.361660 s, approachRate: 0.082538 m/s, LOS rate: 0.019603 deg/s, posRepo size: 4
2021-08-15T19:57:22.969Z,1629057442.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:23.333Z,1629057443.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:23.333Z,1629057443.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:23.333Z,1629057443.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:23.334Z,1629057443.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:23.741Z,1629057443.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006B4,189,80,80,AB,FF
2021-08-15T19:57:23.741Z,1629057443.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:23.741Z,1629057443.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:23.743Z,1629057443.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:24.141Z,1629057444.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:24.537Z,1629057444.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006BA,188,80,80,AC,FF
2021-08-15T19:57:24.538Z,1629057444.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:24.978Z,1629057444.978 [Micromodem](INFO): Nmea in: $SNTTA,0.052199,,,,195724.94*47

2021-08-15T19:57:25.013Z,1629057445.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 78.736112 deg, deltaT: 4.508288 s, approachRate: 0.079851 m/s, LOS rate: -0.080672 deg/s, posRepo size: 4
2021-08-15T19:57:27.399Z,1629057447.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:27.777Z,1629057447.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:27.777Z,1629057447.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:27.777Z,1629057447.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:27.778Z,1629057447.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:28.177Z,1629057448.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006BA,188,80,80,AC,FF
2021-08-15T19:57:28.178Z,1629057448.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:28.178Z,1629057448.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:28.179Z,1629057448.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:28.624Z,1629057448.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:28.985Z,1629057448.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C2,18A,80,80,A5,FF
2021-08-15T19:57:28.986Z,1629057448.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:29.421Z,1629057449.421 [Micromodem](INFO): Nmea in: $SNTTA,0.057949,,,,195729.37*43

2021-08-15T19:57:29.454Z,1629057449.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 78.277970 deg, deltaT: 4.374719 s, approachRate: 0.109722 m/s, LOS rate: -0.104725 deg/s, posRepo size: 4
2021-08-15T19:57:31.883Z,1629057451.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:32.222Z,1629057452.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:32.222Z,1629057452.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:32.222Z,1629057452.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:32.223Z,1629057452.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:32.661Z,1629057452.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C2,18A,80,80,A5,FF
2021-08-15T19:57:32.661Z,1629057452.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:32.661Z,1629057452.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:32.663Z,1629057452.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:33.033Z,1629057453.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:33.434Z,1629057453.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C9,189,80,80,9E,FF
2021-08-15T19:57:33.435Z,1629057453.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:33.849Z,1629057453.849 [Micromodem](INFO): Nmea in: $SNTTA,0.075005,0.358424,,,195733.86*51

2021-08-15T19:57:33.913Z,1629057453.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 78.076685 deg, deltaT: 4.536160 s, approachRate: 0.092591 m/s, LOS rate: -0.044374 deg/s, posRepo size: 4
2021-08-15T19:57:36.312Z,1629057456.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:36.668Z,1629057456.668 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:36.668Z,1629057456.668 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:36.668Z,1629057456.668 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:36.669Z,1629057456.669 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:37.073Z,1629057457.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C9,189,80,80,9E,FF
2021-08-15T19:57:37.073Z,1629057457.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:37.073Z,1629057457.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:37.075Z,1629057457.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:37.518Z,1629057457.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:37.889Z,1629057457.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D1,189,80,80,99,FF
2021-08-15T19:57:37.890Z,1629057457.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:37.893Z,1629057457.893 [Micromodem](INFO): Nmea in: $SNTTA,0.150750,0.150650,,,195738.27*5B

2021-08-15T19:57:38.326Z,1629057458.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 77.725285 deg, deltaT: 4.369550 s, approachRate: 0.109848 m/s, LOS rate: -0.080420 deg/s, posRepo size: 4
2021-08-15T19:57:40.760Z,1629057460.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:41.145Z,1629057461.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:41.145Z,1629057461.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:41.145Z,1629057461.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:41.146Z,1629057461.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:41.561Z,1629057461.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D1,189,80,80,99,FF
2021-08-15T19:57:41.562Z,1629057461.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:41.562Z,1629057461.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:41.588Z,1629057461.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:41.933Z,1629057461.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:42.338Z,1629057462.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D7,189,80,80,8F,FF
2021-08-15T19:57:42.339Z,1629057462.339 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:42.816Z,1629057462.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.560005 m, bearing: 77.818661 deg, deltaT: 4.501792 s, approachRate: 0.079970 m/s, LOS rate: 0.020742 deg/s, posRepo size: 4
2021-08-15T19:57:43.146Z,1629057463.146 [Micromodem](INFO): Nmea in: $SNTTA,0.054648,,,,195742.78*48

2021-08-15T19:57:45.181Z,1629057465.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:45.602Z,1629057465.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:45.602Z,1629057465.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:45.602Z,1629057465.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:45.602Z,1629057465.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:45.967Z,1629057465.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D7,189,80,80,8F,FF
2021-08-15T19:57:45.967Z,1629057465.967 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:45.967Z,1629057465.967 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:45.969Z,1629057465.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:46.377Z,1629057466.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:46.773Z,1629057466.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006DE,189,80,80,8D,FF
2021-08-15T19:57:46.773Z,1629057466.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:47.214Z,1629057467.214 [Micromodem](INFO): Nmea in: $SNTTA,0.067534,,,,195747.16*4D

2021-08-15T19:57:47.238Z,1629057467.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 78.014926 deg, deltaT: 4.422925 s, approachRate: 0.094959 m/s, LOS rate: 0.044375 deg/s, posRepo size: 4
2021-08-15T19:57:49.672Z,1629057469.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:50.005Z,1629057470.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:50.005Z,1629057470.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:50.005Z,1629057470.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:50.006Z,1629057470.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:50.417Z,1629057470.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006DE,189,80,80,8D,FF
2021-08-15T19:57:50.417Z,1629057470.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:50.417Z,1629057470.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:50.419Z,1629057470.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:50.824Z,1629057470.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:51.253Z,1629057471.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E2,18A,80,80,9A,FF
2021-08-15T19:57:51.254Z,1629057471.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:51.666Z,1629057471.666 [Micromodem](INFO): Nmea in: $SNTTA,0.199762,0.442067,,,195751.61*56

2021-08-15T19:57:51.739Z,1629057471.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 78.398175 deg, deltaT: 4.501767 s, approachRate: 0.053310 m/s, LOS rate: 0.085133 deg/s, posRepo size: 4
2021-08-15T19:57:54.099Z,1629057474.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:54.449Z,1629057474.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:54.449Z,1629057474.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:54.449Z,1629057474.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:54.450Z,1629057474.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:54.853Z,1629057474.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E2,18A,80,80,9A,FF
2021-08-15T19:57:54.853Z,1629057474.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:54.853Z,1629057474.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:54.855Z,1629057474.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:55.273Z,1629057475.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:57:55.661Z,1629057475.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E6,189,80,80,A0,FF
2021-08-15T19:57:55.662Z,1629057475.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:57:55.665Z,1629057475.665 [Micromodem](INFO): Nmea in: $SNTTA,0.068149,0.222637,,,195756.05*50

2021-08-15T19:57:56.095Z,1629057476.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 78.542558 deg, deltaT: 4.441850 s, approachRate: 0.054033 m/s, LOS rate: 0.032505 deg/s, posRepo size: 4
2021-08-15T19:57:58.526Z,1629057478.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:57:58.893Z,1629057478.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:57:58.893Z,1629057478.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:57:58.893Z,1629057478.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:57:58.894Z,1629057478.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:57:59.302Z,1629057479.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E6,189,80,80,A0,FF
2021-08-15T19:57:59.302Z,1629057479.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:57:59.302Z,1629057479.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:57:59.304Z,1629057479.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:57:59.709Z,1629057479.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:00.105Z,1629057480.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006EB,189,80,80,A5,FF
2021-08-15T19:58:00.106Z,1629057480.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:00.547Z,1629057480.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.760002 m, bearing: 78.805924 deg, deltaT: 4.346091 s, approachRate: 0.069028 m/s, LOS rate: 0.060598 deg/s, posRepo size: 4
2021-08-15T19:58:02.981Z,1629057482.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:03.349Z,1629057483.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:03.349Z,1629057483.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:03.349Z,1629057483.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:03.350Z,1629057483.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:03.749Z,1629057483.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006EB,189,80,80,A5,FF
2021-08-15T19:58:03.749Z,1629057483.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:03.749Z,1629057483.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:03.751Z,1629057483.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:04.153Z,1629057484.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:04.549Z,1629057484.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F3,189,80,80,B7,FF
2021-08-15T19:58:04.550Z,1629057484.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:04.989Z,1629057484.989 [Micromodem](INFO): Nmea in: $SNTTA,0.051149,,,,195804.95*45

2021-08-15T19:58:05.015Z,1629057485.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 79.093167 deg, deltaT: 4.505898 s, approachRate: 0.106528 m/s, LOS rate: 0.063748 deg/s, posRepo size: 4
2021-08-15T19:58:07.397Z,1629057487.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:07.793Z,1629057487.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:07.793Z,1629057487.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:07.793Z,1629057487.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:07.794Z,1629057487.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:08.185Z,1629057488.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F3,189,80,80,B7,FF
2021-08-15T19:58:08.185Z,1629057488.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:08.185Z,1629057488.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:08.187Z,1629057488.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:08.610Z,1629057488.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:09.002Z,1629057489.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F9,189,80,80,A9,FF
2021-08-15T19:58:09.002Z,1629057489.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:09.430Z,1629057489.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195809.38*59

2021-08-15T19:58:09.450Z,1629057489.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 78.928061 deg, deltaT: 4.391124 s, approachRate: 0.081984 m/s, LOS rate: -0.037600 deg/s, posRepo size: 4
2021-08-15T19:58:09.452Z,1629057489.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 69.60 m. Resuming terminal guidance.
2021-08-15T19:58:09.453Z,1629057489.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T19:58:09.888Z,1629057489.888 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T19:58:09.888Z,1629057489.888 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T19:58:09.888Z,1629057489.888 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T19:58:09.888Z,1629057489.888 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T19:58:09.889Z,1629057489.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T19:58:09.889Z,1629057489.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T19:58:09.889Z,1629057489.889 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T19:58:11.906Z,1629057491.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:12.240Z,1629057492.240 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:12.240Z,1629057492.240 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:12.241Z,1629057492.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:12.242Z,1629057492.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:12.660Z,1629057492.660 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F9,189,80,80,A9,FF
2021-08-15T19:58:12.660Z,1629057492.660 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:12.661Z,1629057492.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:12.662Z,1629057492.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:13.037Z,1629057493.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:13.456Z,1629057493.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00703,189,80,80,98,FF
2021-08-15T19:58:13.457Z,1629057493.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:13.866Z,1629057493.866 [Micromodem](INFO): Nmea in: $SNTTA,0.318964,,,,195813.86*48

2021-08-15T19:58:13.923Z,1629057493.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 78.682038 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T19:58:13.924Z,1629057493.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 78.682038deg and heading rate command to 0 deg/s.
2021-08-15T19:58:16.312Z,1629057496.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:16.681Z,1629057496.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:16.681Z,1629057496.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:16.681Z,1629057496.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:16.682Z,1629057496.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:17.081Z,1629057497.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00703,189,80,80,98,FF
2021-08-15T19:58:17.081Z,1629057497.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:17.081Z,1629057497.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:17.083Z,1629057497.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:17.523Z,1629057497.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:17.889Z,1629057497.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3ED,000,0070B,189,80,80,97,FF
2021-08-15T19:58:17.890Z,1629057497.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:18.329Z,1629057498.329 [Micromodem](INFO): Nmea in: $SNTTA,0.052784,,,,195818.28*4A

2021-08-15T19:58:18.352Z,1629057498.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.680008 m, bearing: 89.699174 deg, deltaT: 4.365730 s, approachRate: 0.109948 m/s, LOS rate: 2.523550 deg/s, posRepo size: 2
2021-08-15T19:58:20.746Z,1629057500.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:21.113Z,1629057501.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:21.113Z,1629057501.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:21.113Z,1629057501.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:21.114Z,1629057501.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:21.568Z,1629057501.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3ED,000,0070B,189,80,80,97,FF
2021-08-15T19:58:21.569Z,1629057501.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:21.569Z,1629057501.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:21.575Z,1629057501.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:22.032Z,1629057502.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:22.425Z,1629057502.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0070C,189,80,80,A4,FF
2021-08-15T19:58:22.426Z,1629057502.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:22.845Z,1629057502.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195822.77*5B

2021-08-15T19:58:22.882Z,1629057502.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 66.244768 deg, deltaT: 4.602871 s, approachRate: 0.013033 m/s, LOS rate: -5.095603 deg/s, posRepo size: 3
2021-08-15T19:58:25.287Z,1629057505.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:25.657Z,1629057505.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:25.657Z,1629057505.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:25.657Z,1629057505.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:25.658Z,1629057505.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:26.061Z,1629057506.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0070C,189,80,80,A4,FF
2021-08-15T19:58:26.061Z,1629057506.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:26.061Z,1629057506.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:26.063Z,1629057506.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:26.469Z,1629057506.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:26.863Z,1629057506.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00701,189,80,80,A6,FF
2021-08-15T19:58:26.863Z,1629057506.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:27.305Z,1629057507.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195827.26*5A

2021-08-15T19:58:27.336Z,1629057507.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 53.910014 deg, deltaT: 4.370241 s, approachRate: -0.151022 m/s, LOS rate: -2.822443 deg/s, posRepo size: 4
2021-08-15T19:58:29.755Z,1629057509.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:30.105Z,1629057510.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:30.105Z,1629057510.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:30.105Z,1629057510.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:30.106Z,1629057510.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:30.509Z,1629057510.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00701,189,80,80,A6,FF
2021-08-15T19:58:30.510Z,1629057510.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:30.510Z,1629057510.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:30.511Z,1629057510.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:30.917Z,1629057510.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:31.317Z,1629057511.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,006F7,18A,80,80,93,FF
2021-08-15T19:58:31.318Z,1629057511.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:31.749Z,1629057511.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195831.71*5F

2021-08-15T19:58:31.824Z,1629057511.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.479996 m, bearing: 43.958486 deg, deltaT: 4.444281 s, approachRate: -0.135005 m/s, LOS rate: -2.239176 deg/s, posRepo size: 4
2021-08-15T19:58:34.191Z,1629057514.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:34.551Z,1629057514.551 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:34.552Z,1629057514.552 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:34.552Z,1629057514.552 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:34.554Z,1629057514.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:34.949Z,1629057514.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B8,000,006F7,18A,80,80,93,FF
2021-08-15T19:58:34.949Z,1629057514.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:34.950Z,1629057514.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:34.951Z,1629057514.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:35.358Z,1629057515.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:35.762Z,1629057515.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,006E1,189,80,80,A8,FF
2021-08-15T19:58:35.763Z,1629057515.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:35.766Z,1629057515.766 [Micromodem](INFO): Nmea in: $SNTTA,0.175205,0.175199,,,195836.15*5C

2021-08-15T19:58:36.190Z,1629057516.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 49.747519 deg, deltaT: 4.521036 s, approachRate: -0.291967 m/s, LOS rate: 1.280466 deg/s, posRepo size: 4
2021-08-15T19:58:38.606Z,1629057518.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:38.997Z,1629057518.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:38.998Z,1629057518.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:38.998Z,1629057518.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:38.999Z,1629057518.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:39.401Z,1629057519.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,006E1,189,80,80,A8,FF
2021-08-15T19:58:39.401Z,1629057519.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:39.401Z,1629057519.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:39.403Z,1629057519.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:39.801Z,1629057519.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:40.214Z,1629057520.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,006BB,187,80,80,95,FF
2021-08-15T19:58:40.214Z,1629057520.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:40.653Z,1629057520.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195840.60*59

2021-08-15T19:58:40.700Z,1629057520.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.880005 m, bearing: 48.145894 deg, deltaT: 4.375836 s, approachRate: -0.521043 m/s, LOS rate: -0.366016 deg/s, posRepo size: 4
2021-08-15T19:58:43.079Z,1629057523.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:43.449Z,1629057523.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:43.449Z,1629057523.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:43.450Z,1629057523.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:43.451Z,1629057523.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:43.845Z,1629057523.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,006BB,187,80,80,95,FF
2021-08-15T19:58:43.845Z,1629057523.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:43.845Z,1629057523.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:43.847Z,1629057523.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:44.257Z,1629057524.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:44.658Z,1629057524.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00696,186,80,80,8F,FF
2021-08-15T19:58:44.658Z,1629057524.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:45.093Z,1629057525.093 [Micromodem](INFO): Nmea in: $SNTTA,0.054343,,,,195845.04*45

2021-08-15T19:58:45.115Z,1629057525.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 51.175346 deg, deltaT: 4.454436 s, approachRate: -0.498379 m/s, LOS rate: 0.680098 deg/s, posRepo size: 4
2021-08-15T19:58:47.599Z,1629057527.599 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:47.885Z,1629057527.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:47.885Z,1629057527.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:47.885Z,1629057527.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:47.886Z,1629057527.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:48.290Z,1629057528.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00696,186,80,80,8F,FF
2021-08-15T19:58:48.290Z,1629057528.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:48.290Z,1629057528.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:48.293Z,1629057528.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:48.724Z,1629057528.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:49.125Z,1629057529.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0066B,187,80,80,A7,FF
2021-08-15T19:58:49.125Z,1629057529.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:49.539Z,1629057529.539 [Micromodem](INFO): Nmea in: $SNTTA,0.057184,,,,195849.54*46

2021-08-15T19:58:49.637Z,1629057529.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.080002 m, bearing: 52.998911 deg, deltaT: 4.480278 s, approachRate: -0.575858 m/s, LOS rate: 0.407020 deg/s, posRepo size: 4
2021-08-15T19:58:51.669Z,1629057531.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:51.925Z,1629057531.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:51.925Z,1629057531.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:51.925Z,1629057531.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:51.926Z,1629057531.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:52.335Z,1629057532.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0066B,187,80,80,A7,FF
2021-08-15T19:58:52.335Z,1629057532.335 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:52.335Z,1629057532.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:52.338Z,1629057532.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:52.737Z,1629057532.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:53.137Z,1629057533.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00648,186,80,80,98,FF
2021-08-15T19:58:53.138Z,1629057533.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:53.610Z,1629057533.610 [Micromodem](INFO): Nmea in: $SNTTA,0.075801,,,,195853.53*4E

2021-08-15T19:58:53.691Z,1629057533.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 52.724064 deg, deltaT: 4.029248 s, approachRate: -0.521190 m/s, LOS rate: -0.068213 deg/s, posRepo size: 4
2021-08-15T19:58:55.986Z,1629057535.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:58:56.369Z,1629057536.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:58:56.369Z,1629057536.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:58:56.370Z,1629057536.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:58:56.371Z,1629057536.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:58:56.765Z,1629057536.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00648,186,80,80,98,FF
2021-08-15T19:58:56.765Z,1629057536.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:58:56.765Z,1629057536.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:58:56.767Z,1629057536.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:58:57.180Z,1629057537.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:58:57.606Z,1629057537.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0061C,187,80,80,A7,FF
2021-08-15T19:58:57.607Z,1629057537.607 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:58:57.614Z,1629057537.614 [Micromodem](INFO): Nmea in: $SNTTA,0.050981,0.306762,,,195857.96*55

2021-08-15T19:58:58.022Z,1629057538.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 52.790372 deg, deltaT: 4.506886 s, approachRate: -0.585770 m/s, LOS rate: 0.014712 deg/s, posRepo size: 4
2021-08-15T19:59:00.430Z,1629057540.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:00.805Z,1629057540.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:00.805Z,1629057540.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:00.805Z,1629057540.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:00.806Z,1629057540.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:01.213Z,1629057541.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0061C,187,80,80,A7,FF
2021-08-15T19:59:01.213Z,1629057541.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:01.213Z,1629057541.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:01.215Z,1629057541.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:01.693Z,1629057541.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:02.089Z,1629057542.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9B,000,005F1,187,80,80,A3,FF
2021-08-15T19:59:02.090Z,1629057542.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:02.505Z,1629057542.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195902.41*5D

2021-08-15T19:59:02.534Z,1629057542.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 52.598221 deg, deltaT: 4.455087 s, approachRate: -0.579115 m/s, LOS rate: -0.043131 deg/s, posRepo size: 4
2021-08-15T19:59:04.960Z,1629057544.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:05.325Z,1629057545.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:05.325Z,1629057545.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:05.325Z,1629057545.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:05.326Z,1629057545.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:05.725Z,1629057545.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9B,000,005F1,187,80,80,A3,FF
2021-08-15T19:59:05.725Z,1629057545.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:05.726Z,1629057545.726 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:05.727Z,1629057545.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:06.128Z,1629057546.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:06.530Z,1629057546.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7A,000,005C7,186,80,80,6B,FF
2021-08-15T19:59:06.532Z,1629057546.532 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:06.971Z,1629057546.971 [Micromodem](INFO): Nmea in: $SNTTA,0.054444,,,,195906.92*4C

2021-08-15T19:59:07.061Z,1629057547.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.240005 m, bearing: 54.716663 deg, deltaT: 4.430739 s, approachRate: -0.568751 m/s, LOS rate: 0.478124 deg/s, posRepo size: 4
2021-08-15T19:59:09.404Z,1629057549.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:09.761Z,1629057549.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:09.761Z,1629057549.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:09.761Z,1629057549.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:09.762Z,1629057549.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:10.165Z,1629057550.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7A,000,005C7,186,80,80,6B,FF
2021-08-15T19:59:10.165Z,1629057550.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:10.166Z,1629057550.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:10.167Z,1629057550.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:10.581Z,1629057550.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:10.981Z,1629057550.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,0059F,186,80,80,87,FF
2021-08-15T19:59:10.981Z,1629057550.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:11.409Z,1629057551.409 [Micromodem](INFO): Nmea in: $SNTTA,0.059895,,,,195911.36*49

2021-08-15T19:59:11.495Z,1629057551.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.839996 m, bearing: 56.146054 deg, deltaT: 4.410222 s, approachRate: -0.544192 m/s, LOS rate: 0.324109 deg/s, posRepo size: 4
2021-08-15T19:59:13.881Z,1629057553.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:14.217Z,1629057554.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:14.217Z,1629057554.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:14.217Z,1629057554.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:14.218Z,1629057554.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:14.633Z,1629057554.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,0059F,186,80,80,87,FF
2021-08-15T19:59:14.633Z,1629057554.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:14.633Z,1629057554.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:14.635Z,1629057554.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:15.024Z,1629057555.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:15.838Z,1629057555.838 [Micromodem](INFO): Nmea in: $SNTTA,0.373858,,,,195915.83*49

2021-08-15T19:59:16.695Z,1629057556.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:18.245Z,1629057558.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,87,FF
2021-08-15T19:59:18.245Z,1629057558.245 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,87,FF
2021-08-15T19:59:18.245Z,1629057558.245 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T19:59:19.565Z,1629057559.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:19.861Z,1629057559.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:19.861Z,1629057559.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:19.861Z,1629057559.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:19.862Z,1629057559.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:20.266Z,1629057560.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,87,FF
2021-08-15T19:59:20.266Z,1629057560.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:20.266Z,1629057560.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:20.269Z,1629057560.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:20.680Z,1629057560.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:21.073Z,1629057561.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F94,000,0053D,187,80,80,A8,FF
2021-08-15T19:59:21.074Z,1629057561.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:21.545Z,1629057561.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195921.46*5B

2021-08-15T19:59:21.671Z,1629057561.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 58.040058 deg, deltaT: 10.116542 s, approachRate: -0.581226 m/s, LOS rate: 0.187219 deg/s, posRepo size: 4
2021-08-15T19:59:23.636Z,1629057563.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:23.901Z,1629057563.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:23.901Z,1629057563.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:23.901Z,1629057563.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:23.902Z,1629057563.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:24.309Z,1629057564.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F94,000,0053D,187,80,80,A8,FF
2021-08-15T19:59:24.309Z,1629057564.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:24.310Z,1629057564.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:24.311Z,1629057564.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:24.729Z,1629057564.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:25.121Z,1629057565.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,00515,184,80,80,9C,FF
2021-08-15T19:59:25.122Z,1629057565.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:25.581Z,1629057565.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195925.51*59

2021-08-15T19:59:25.680Z,1629057565.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 56.948297 deg, deltaT: 4.047331 s, approachRate: -0.592984 m/s, LOS rate: -0.269748 deg/s, posRepo size: 4
2021-08-15T19:59:27.959Z,1629057567.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:28.345Z,1629057568.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:28.345Z,1629057568.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:28.345Z,1629057568.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:28.346Z,1629057568.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:28.757Z,1629057568.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,00515,184,80,80,9C,FF
2021-08-15T19:59:28.757Z,1629057568.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:28.757Z,1629057568.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:28.759Z,1629057568.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:29.205Z,1629057569.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:29.585Z,1629057569.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,004E9,186,80,80,98,FF
2021-08-15T19:59:29.586Z,1629057569.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:30.005Z,1629057570.005 [Micromodem](INFO): Nmea in: $SNTTA,,0.307777,,,195929.96*43

2021-08-15T19:59:30.039Z,1629057570.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 58.683783 deg, deltaT: 4.519689 s, approachRate: -0.584110 m/s, LOS rate: 0.383984 deg/s, posRepo size: 4
2021-08-15T19:59:30.040Z,1629057570.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2021-08-15T19:59:30.410Z,1629057570.410 [PowerOnly](INFO): Powering up loadControl
2021-08-15T19:59:30.454Z,1629057570.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T19:59:30.454Z,1629057570.454 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:59:30.455Z,1629057570.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T19:59:30.455Z,1629057570.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T19:59:30.455Z,1629057570.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T19:59:30.455Z,1629057570.455 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T19:59:30.842Z,1629057570.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T19:59:30.842Z,1629057570.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:59:30.843Z,1629057570.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T19:59:30.843Z,1629057570.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T19:59:32.442Z,1629057572.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:32.817Z,1629057572.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:32.817Z,1629057572.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:32.817Z,1629057572.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:32.818Z,1629057572.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:33.225Z,1629057573.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,004E9,186,80,80,98,FF
2021-08-15T19:59:33.225Z,1629057573.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:33.225Z,1629057573.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:33.227Z,1629057573.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:33.657Z,1629057573.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:34.005Z,1629057574.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,004BE,185,80,80,8F,FF
2021-08-15T19:59:34.005Z,1629057574.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:34.109Z,1629057574.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:34.429Z,1629057574.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195934.42*5B

2021-08-15T19:59:34.462Z,1629057574.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 55.562790 deg, deltaT: 4.424168 s, approachRate: -0.583161 m/s, LOS rate: -0.705442 deg/s, posRepo size: 4
2021-08-15T19:59:34.462Z,1629057574.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m.
2021-08-15T19:59:36.859Z,1629057576.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:37.241Z,1629057577.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:37.242Z,1629057577.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:37.242Z,1629057577.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:37.243Z,1629057577.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:37.653Z,1629057577.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,004BE,185,80,80,8F,FF
2021-08-15T19:59:37.653Z,1629057577.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:37.653Z,1629057577.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:37.655Z,1629057577.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:38.082Z,1629057578.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:38.478Z,1629057578.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00493,184,80,80,74,FF
2021-08-15T19:59:38.478Z,1629057578.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:38.547Z,1629057578.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:38.909Z,1629057578.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195938.85*5C

2021-08-15T19:59:38.960Z,1629057578.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 54.832752 deg, deltaT: 4.443461 s, approachRate: -0.580628 m/s, LOS rate: -0.164295 deg/s, posRepo size: 4
2021-08-15T19:59:38.961Z,1629057578.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.76 m.
2021-08-15T19:59:41.355Z,1629057581.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:41.709Z,1629057581.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:41.709Z,1629057581.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:41.709Z,1629057581.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:41.710Z,1629057581.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:42.121Z,1629057582.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00493,184,80,80,74,FF
2021-08-15T19:59:42.121Z,1629057582.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:42.121Z,1629057582.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:42.123Z,1629057582.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:42.520Z,1629057582.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:42.929Z,1629057582.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,0046D,185,80,80,9A,FF
2021-08-15T19:59:42.929Z,1629057582.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:42.995Z,1629057582.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:43.373Z,1629057583.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195943.32*5C

2021-08-15T19:59:43.398Z,1629057583.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.480000 m, bearing: 55.813885 deg, deltaT: 4.448122 s, approachRate: -0.512576 m/s, LOS rate: 0.220572 deg/s, posRepo size: 4
2021-08-15T19:59:43.398Z,1629057583.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.48 m.
2021-08-15T19:59:45.802Z,1629057585.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:46.158Z,1629057586.158 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:46.158Z,1629057586.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:46.158Z,1629057586.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:46.159Z,1629057586.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:46.557Z,1629057586.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,0046D,185,80,80,9A,FF
2021-08-15T19:59:46.557Z,1629057586.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:46.558Z,1629057586.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:46.559Z,1629057586.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:46.973Z,1629057586.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:47.373Z,1629057587.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00444,186,80,80,8B,FF
2021-08-15T19:59:47.374Z,1629057587.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:47.447Z,1629057587.447 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:47.805Z,1629057587.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195947.75*5B

2021-08-15T19:59:47.897Z,1629057587.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 60.207154 deg, deltaT: 4.446536 s, approachRate: -0.553239 m/s, LOS rate: 0.988021 deg/s, posRepo size: 4
2021-08-15T19:59:47.898Z,1629057587.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.02 m.
2021-08-15T19:59:47.898Z,1629057587.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.02 m.
2021-08-15T19:59:47.898Z,1629057587.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T19:59:50.230Z,1629057590.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:50.597Z,1629057590.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:50.597Z,1629057590.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:50.598Z,1629057590.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:50.599Z,1629057590.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:51.006Z,1629057591.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00444,186,80,80,8B,FF
2021-08-15T19:59:51.006Z,1629057591.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:51.006Z,1629057591.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:51.007Z,1629057591.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:51.417Z,1629057591.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:51.822Z,1629057591.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00417,185,80,80,78,FF
2021-08-15T19:59:51.822Z,1629057591.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:51.902Z,1629057591.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:52.253Z,1629057592.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195952.21*5E

2021-08-15T19:59:52.307Z,1629057592.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 57.496580 deg, deltaT: 4.455424 s, approachRate: -0.606003 m/s, LOS rate: -0.608376 deg/s, posRepo size: 4
2021-08-15T19:59:54.679Z,1629057594.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:55.058Z,1629057595.058 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:55.058Z,1629057595.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:55.058Z,1629057595.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:55.059Z,1629057595.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:55.454Z,1629057595.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00417,185,80,80,78,FF
2021-08-15T19:59:55.454Z,1629057595.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:55.455Z,1629057595.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:55.456Z,1629057595.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T19:59:55.881Z,1629057595.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T19:59:56.274Z,1629057596.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,003EE,184,80,80,57,FF
2021-08-15T19:59:56.275Z,1629057596.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T19:59:56.325Z,1629057596.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T19:59:56.693Z,1629057596.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,195956.65*5A

2021-08-15T19:59:56.736Z,1629057596.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.860001 m, bearing: 58.026268 deg, deltaT: 4.423262 s, approachRate: -0.556150 m/s, LOS rate: 0.119751 deg/s, posRepo size: 4
2021-08-15T19:59:59.133Z,1629057599.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T19:59:59.508Z,1629057599.508 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T19:59:59.509Z,1629057599.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T19:59:59.509Z,1629057599.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T19:59:59.511Z,1629057599.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T19:59:59.914Z,1629057599.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,003EE,184,80,80,57,FF
2021-08-15T19:59:59.915Z,1629057599.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T19:59:59.915Z,1629057599.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T19:59:59.917Z,1629057599.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:00.401Z,1629057600.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:00.711Z,1629057600.711 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,003C5,185,80,80,6A,FF
2021-08-15T20:00:00.711Z,1629057600.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:00.764Z,1629057600.764 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:01.141Z,1629057601.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200001.12*5E

2021-08-15T20:00:01.183Z,1629057601.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.400002 m, bearing: 58.596842 deg, deltaT: 4.438576 s, approachRate: -0.554232 m/s, LOS rate: 0.128549 deg/s, posRepo size: 4
2021-08-15T20:00:03.646Z,1629057603.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:03.946Z,1629057603.946 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:03.947Z,1629057603.947 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:03.947Z,1629057603.947 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:03.948Z,1629057603.948 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:04.355Z,1629057604.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,003C5,185,80,80,6A,FF
2021-08-15T20:00:04.355Z,1629057604.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:04.355Z,1629057604.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:04.357Z,1629057604.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:04.749Z,1629057604.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:05.592Z,1629057605.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200005.56*5A

2021-08-15T20:00:06.379Z,1629057606.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:08.015Z,1629057608.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,185,80,80,6A,FF
2021-08-15T20:00:08.016Z,1629057608.016 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,185,80,80,6A,FF
2021-08-15T20:00:08.016Z,1629057608.016 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:00:09.262Z,1629057609.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:09.593Z,1629057609.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:09.593Z,1629057609.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:09.593Z,1629057609.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:09.594Z,1629057609.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:09.993Z,1629057609.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,185,80,80,6A,FF
2021-08-15T20:00:09.994Z,1629057609.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:09.994Z,1629057609.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:09.996Z,1629057609.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:10.412Z,1629057610.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:10.806Z,1629057610.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0036B,186,80,80,A0,FF
2021-08-15T20:00:10.806Z,1629057610.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:10.861Z,1629057610.861 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:11.249Z,1629057611.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200011.19*54

2021-08-15T20:00:11.341Z,1629057611.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 62.311713 deg, deltaT: 10.097195 s, approachRate: -0.534802 m/s, LOS rate: 0.367911 deg/s, posRepo size: 4
2021-08-15T20:00:13.741Z,1629057613.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:14.037Z,1629057614.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:14.037Z,1629057614.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:14.037Z,1629057614.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:14.038Z,1629057614.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:14.453Z,1629057614.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0036B,186,80,80,A0,FF
2021-08-15T20:00:14.453Z,1629057614.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:14.454Z,1629057614.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:14.455Z,1629057614.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:14.858Z,1629057614.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:15.249Z,1629057615.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00351,187,80,80,B5,FF
2021-08-15T20:00:15.249Z,1629057615.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:15.314Z,1629057615.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:15.697Z,1629057615.697 [Micromodem](INFO): Nmea in: $SNTTA,0.043273,,,,200015.65*44

2021-08-15T20:00:15.774Z,1629057615.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 63.934566 deg, deltaT: 4.452835 s, approachRate: -0.350339 m/s, LOS rate: 0.364454 deg/s, posRepo size: 4
2021-08-15T20:00:18.109Z,1629057618.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:18.481Z,1629057618.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:18.481Z,1629057618.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:18.481Z,1629057618.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:18.482Z,1629057618.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:18.895Z,1629057618.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00351,187,80,80,B5,FF
2021-08-15T20:00:18.895Z,1629057618.895 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:18.896Z,1629057618.896 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:18.897Z,1629057618.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:19.313Z,1629057619.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:19.695Z,1629057619.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00319,186,80,80,C3,FF
2021-08-15T20:00:19.695Z,1629057619.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:19.779Z,1629057619.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:20.137Z,1629057620.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200020.09*57

2021-08-15T20:00:20.189Z,1629057620.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 68.051818 deg, deltaT: 4.464630 s, approachRate: -0.752581 m/s, LOS rate: 0.922193 deg/s, posRepo size: 4
2021-08-15T20:00:22.543Z,1629057622.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:22.933Z,1629057622.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:22.934Z,1629057622.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:22.934Z,1629057622.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:22.935Z,1629057622.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:23.345Z,1629057623.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00319,186,80,80,C3,FF
2021-08-15T20:00:23.345Z,1629057623.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:23.345Z,1629057623.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:23.347Z,1629057623.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:23.751Z,1629057623.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:24.153Z,1629057624.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,002F2,185,80,80,C7,FF
2021-08-15T20:00:24.153Z,1629057624.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:24.245Z,1629057624.245 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:24.569Z,1629057624.569 [Micromodem](INFO): Nmea in: $SNTTA,0.369260,,,,200024.55*4C

2021-08-15T20:00:24.603Z,1629057624.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 67.412581 deg, deltaT: 4.466229 s, approachRate: -0.523932 m/s, LOS rate: -0.143127 deg/s, posRepo size: 4
2021-08-15T20:00:26.983Z,1629057626.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:27.373Z,1629057627.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:27.373Z,1629057627.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:27.373Z,1629057627.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:27.374Z,1629057627.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:27.777Z,1629057627.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,002F2,185,80,80,C7,FF
2021-08-15T20:00:27.778Z,1629057627.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:27.778Z,1629057627.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:27.779Z,1629057627.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:28.177Z,1629057628.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:28.577Z,1629057628.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,002D3,186,80,80,BC,FF
2021-08-15T20:00:28.578Z,1629057628.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:28.676Z,1629057628.676 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:29.021Z,1629057629.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200028.97*58

2021-08-15T20:00:29.059Z,1629057629.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.880000 m, bearing: 71.825156 deg, deltaT: 4.431123 s, approachRate: -0.419758 m/s, LOS rate: 0.995814 deg/s, posRepo size: 4
2021-08-15T20:00:31.434Z,1629057631.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:31.809Z,1629057631.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:31.809Z,1629057631.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:31.809Z,1629057631.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:31.810Z,1629057631.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:32.225Z,1629057632.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,002D3,186,80,80,BC,FF
2021-08-15T20:00:32.225Z,1629057632.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:32.225Z,1629057632.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:32.227Z,1629057632.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:32.632Z,1629057632.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:33.021Z,1629057633.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,002C0,186,80,80,89,FF
2021-08-15T20:00:33.021Z,1629057633.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:33.066Z,1629057633.066 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:33.454Z,1629057633.454 [Micromodem](INFO): Nmea in: $SNTTA,0.042555,,,,200033.43*46

2021-08-15T20:00:33.548Z,1629057633.548 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T20:00:33.548Z,1629057633.548 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T20:00:33.548Z,1629057633.548 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T20:00:33.548Z,1629057633.548 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:00:33.549Z,1629057633.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T20:00:33.549Z,1629057633.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-08-15T20:00:33.549Z,1629057633.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T20:00:33.549Z,1629057633.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T20:00:33.549Z,1629057633.549 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T20:00:33.552Z,1629057633.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 46.378234 deg, deltaT: 4.389732 s, approachRate: -0.259697 m/s, LOS rate: -5.796919 deg/s, posRepo size: 4
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T200033: (41.552319, -70.708603)
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T20:00:33.903Z,1629057633.903 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T20:00:33.908Z,1629057633.908 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T20:00:35.899Z,1629057635.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:36.253Z,1629057636.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:36.253Z,1629057636.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:36.253Z,1629057636.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:36.254Z,1629057636.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:36.661Z,1629057636.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,002C0,186,80,80,89,FF
2021-08-15T20:00:36.661Z,1629057636.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:36.661Z,1629057636.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:36.663Z,1629057636.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:37.073Z,1629057637.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:37.466Z,1629057637.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,002C0,186,80,80,8A,FF
2021-08-15T20:00:37.467Z,1629057637.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:37.562Z,1629057637.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:37.912Z,1629057637.912 [Micromodem](INFO): Nmea in: $SNTTA,0.026847,,,,200037.86*47

2021-08-15T20:00:37.991Z,1629057637.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.740000 m, bearing: 76.601302 deg, deltaT: 4.496160 s, approachRate: 0.000000 m/s, LOS rate: 6.721973 deg/s, posRepo size: 4
2021-08-15T20:00:40.319Z,1629057640.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:40.701Z,1629057640.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:40.701Z,1629057640.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:40.702Z,1629057640.702 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:40.703Z,1629057640.703 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:41.101Z,1629057641.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,002C0,186,80,80,8A,FF
2021-08-15T20:00:41.101Z,1629057641.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:41.101Z,1629057641.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:41.103Z,1629057641.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:41.541Z,1629057641.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:41.909Z,1629057641.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,002FA,185,80,80,8A,FF
2021-08-15T20:00:41.909Z,1629057641.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:41.980Z,1629057641.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:42.357Z,1629057642.357 [Micromodem](INFO): Nmea in: $SNTTA,0.036903,,,,200042.30*48

2021-08-15T20:00:42.383Z,1629057642.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 56.600084 deg, deltaT: 4.418180 s, approachRate: 0.787654 m/s, LOS rate: -4.527027 deg/s, posRepo size: 4
2021-08-15T20:00:44.773Z,1629057644.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:45.141Z,1629057645.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:45.141Z,1629057645.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:45.141Z,1629057645.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:45.142Z,1629057645.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:45.573Z,1629057645.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,002FA,185,80,80,8A,FF
2021-08-15T20:00:45.573Z,1629057645.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:45.573Z,1629057645.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:45.575Z,1629057645.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:45.985Z,1629057645.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:46.361Z,1629057646.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00301,186,80,80,63,FF
2021-08-15T20:00:46.362Z,1629057646.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:46.422Z,1629057646.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:46.775Z,1629057646.775 [Micromodem](INFO): Nmea in: $SNTTA,0.041811,,,,200046.77*4D

2021-08-15T20:00:46.810Z,1629057646.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.639998 m, bearing: 72.807986 deg, deltaT: 4.442320 s, approachRate: 0.094545 m/s, LOS rate: 3.648522 deg/s, posRepo size: 4
2021-08-15T20:00:49.244Z,1629057649.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:49.597Z,1629057649.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:49.597Z,1629057649.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:49.597Z,1629057649.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:49.598Z,1629057649.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:49.989Z,1629057649.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00301,186,80,80,63,FF
2021-08-15T20:00:49.989Z,1629057649.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:49.989Z,1629057649.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:49.991Z,1629057649.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:50.427Z,1629057650.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:50.805Z,1629057650.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,0033D,186,80,80,83,FF
2021-08-15T20:00:50.805Z,1629057650.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:50.871Z,1629057650.871 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:51.237Z,1629057651.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200051.19*50

2021-08-15T20:00:51.282Z,1629057651.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.240001 m, bearing: 78.906908 deg, deltaT: 4.448565 s, approachRate: 0.809250 m/s, LOS rate: 1.370986 deg/s, posRepo size: 4
2021-08-15T20:00:53.705Z,1629057653.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:54.029Z,1629057654.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:54.029Z,1629057654.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:54.029Z,1629057654.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:54.030Z,1629057654.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:54.455Z,1629057654.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,0033D,186,80,80,83,FF
2021-08-15T20:00:54.455Z,1629057654.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:54.455Z,1629057654.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:54.457Z,1629057654.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:54.853Z,1629057654.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:55.270Z,1629057655.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,0037A,188,80,80,54,FF
2021-08-15T20:00:55.271Z,1629057655.271 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:55.349Z,1629057655.349 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:00:55.677Z,1629057655.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200055.66*5C

2021-08-15T20:00:55.728Z,1629057655.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 99.533287 deg, deltaT: 4.477823 s, approachRate: 0.817361 m/s, LOS rate: 4.606341 deg/s, posRepo size: 4
2021-08-15T20:00:58.094Z,1629057658.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:00:58.497Z,1629057658.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:00:58.497Z,1629057658.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:00:58.498Z,1629057658.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:00:58.499Z,1629057658.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:00:58.892Z,1629057658.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,0037A,188,80,80,54,FF
2021-08-15T20:00:58.893Z,1629057658.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:00:58.893Z,1629057658.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:00:58.894Z,1629057658.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:00:59.297Z,1629057659.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:00:59.689Z,1629057659.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,0038C,189,80,80,6E,FF
2021-08-15T20:00:59.690Z,1629057659.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:00:59.787Z,1629057659.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:00.134Z,1629057660.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200100.09*54

2021-08-15T20:01:00.178Z,1629057660.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 112.443157 deg, deltaT: 4.437786 s, approachRate: 0.243365 m/s, LOS rate: 2.909079 deg/s, posRepo size: 4
2021-08-15T20:01:02.539Z,1629057662.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:02.921Z,1629057662.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:02.922Z,1629057662.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:02.922Z,1629057662.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:02.923Z,1629057662.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:03.334Z,1629057663.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,0038C,189,80,80,6E,FF
2021-08-15T20:01:03.334Z,1629057663.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:03.335Z,1629057663.335 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:03.336Z,1629057663.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:03.725Z,1629057663.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:04.157Z,1629057664.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,003A6,187,80,80,31,FF
2021-08-15T20:01:04.158Z,1629057664.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:04.262Z,1629057664.262 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:04.573Z,1629057664.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200104.54*58

2021-08-15T20:01:04.616Z,1629057664.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 122.107322 deg, deltaT: 4.476302 s, approachRate: 0.348502 m/s, LOS rate: 2.158962 deg/s, posRepo size: 4
2021-08-15T20:01:04.616Z,1629057664.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.54 m. Rolling out.
2021-08-15T20:01:04.617Z,1629057664.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T20:01:04.954Z,1629057664.954 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:01:04.000Z,1629057665.000 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T20:01:05.000Z,1629057665.000 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:01:05.000Z,1629057665.000 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T20:01:05.000Z,1629057665.000 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T20:01:05.000Z,1629057665.000 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T20:01:05.001Z,1629057665.001 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T20:01:05.001Z,1629057665.001 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T20:01:07.029Z,1629057667.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:07.361Z,1629057667.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:07.361Z,1629057667.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:07.361Z,1629057667.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:07.362Z,1629057667.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:07.769Z,1629057667.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,003A6,187,80,80,31,FF
2021-08-15T20:01:07.770Z,1629057667.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:07.770Z,1629057667.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:07.771Z,1629057667.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:08.181Z,1629057668.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:08.573Z,1629057668.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,003BD,186,80,80,66,FF
2021-08-15T20:01:08.574Z,1629057668.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:08.638Z,1629057668.638 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:09.026Z,1629057669.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200108.97*5B

2021-08-15T20:01:09.052Z,1629057669.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 129.375763 deg, deltaT: 4.375576 s, approachRate: 0.315386 m/s, LOS rate: 1.661139 deg/s, posRepo size: 4
2021-08-15T20:01:11.549Z,1629057671.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:11.805Z,1629057671.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:11.805Z,1629057671.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:11.805Z,1629057671.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:11.806Z,1629057671.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:12.214Z,1629057672.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,003BD,186,80,80,66,FF
2021-08-15T20:01:12.214Z,1629057672.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:12.214Z,1629057672.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:12.216Z,1629057672.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:12.633Z,1629057672.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:13.021Z,1629057673.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAF,000,003D1,186,80,80,A1,FF
2021-08-15T20:01:13.022Z,1629057673.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:13.040Z,1629057673.040 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:13.472Z,1629057673.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200113.41*5A

2021-08-15T20:01:13.568Z,1629057673.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 127.739564 deg, deltaT: 4.401958 s, approachRate: 0.272607 m/s, LOS rate: -0.371698 deg/s, posRepo size: 4
2021-08-15T20:01:15.566Z,1629057675.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:15.845Z,1629057675.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:15.845Z,1629057675.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:15.845Z,1629057675.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:15.846Z,1629057675.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:16.249Z,1629057676.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAF,000,003D1,186,80,80,A1,FF
2021-08-15T20:01:16.249Z,1629057676.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:16.249Z,1629057676.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:16.251Z,1629057676.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:16.673Z,1629057676.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:17.061Z,1629057677.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,003EC,187,80,80,6E,FF
2021-08-15T20:01:17.061Z,1629057677.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:17.081Z,1629057677.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:17.549Z,1629057677.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200117.45*5A

2021-08-15T20:01:17.629Z,1629057677.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 128.006010 deg, deltaT: 4.040274 s, approachRate: 0.400963 m/s, LOS rate: 0.065947 deg/s, posRepo size: 4
2021-08-15T20:01:19.591Z,1629057679.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:19.885Z,1629057679.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:19.885Z,1629057679.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:19.885Z,1629057679.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:19.886Z,1629057679.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:20.290Z,1629057680.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,003EC,187,80,80,6E,FF
2021-08-15T20:01:20.290Z,1629057680.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:20.290Z,1629057680.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:20.293Z,1629057680.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:20.697Z,1629057680.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:21.097Z,1629057681.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,003E5,186,80,80,A3,FF
2021-08-15T20:01:21.098Z,1629057681.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:21.116Z,1629057681.116 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:21.565Z,1629057681.565 [Micromodem](INFO): Nmea in: $SNTTA,0.087253,,,,200121.49*46

2021-08-15T20:01:21.636Z,1629057681.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 128.241528 deg, deltaT: 4.035866 s, approachRate: -0.104067 m/s, LOS rate: 0.058356 deg/s, posRepo size: 4
2021-08-15T20:01:23.635Z,1629057683.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:23.925Z,1629057683.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:23.925Z,1629057683.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:23.926Z,1629057683.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:23.927Z,1629057683.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:24.334Z,1629057684.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,003E5,186,80,80,A3,FF
2021-08-15T20:01:24.334Z,1629057684.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:24.334Z,1629057684.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:24.336Z,1629057684.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:24.745Z,1629057684.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:25.142Z,1629057685.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,003F9,186,80,80,66,FF
2021-08-15T20:01:25.142Z,1629057685.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:25.161Z,1629057685.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:25.585Z,1629057685.585 [Micromodem](INFO): Nmea in: $SNTTA,0.036736,,,,200125.53*45

2021-08-15T20:01:25.679Z,1629057685.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 124.410776 deg, deltaT: 4.044391 s, approachRate: 0.296706 m/s, LOS rate: -0.947177 deg/s, posRepo size: 4
2021-08-15T20:01:27.677Z,1629057687.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:27.965Z,1629057687.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:27.965Z,1629057687.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:27.965Z,1629057687.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:27.966Z,1629057687.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:28.377Z,1629057688.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,003F9,186,80,80,66,FF
2021-08-15T20:01:28.378Z,1629057688.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:28.378Z,1629057688.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:28.379Z,1629057688.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:28.777Z,1629057688.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:29.177Z,1629057689.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,00402,186,80,80,71,FF
2021-08-15T20:01:29.178Z,1629057689.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:29.279Z,1629057689.279 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:29.629Z,1629057689.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200129.58*5B

2021-08-15T20:01:29.702Z,1629057689.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 127.020427 deg, deltaT: 4.118146 s, approachRate: 0.131128 m/s, LOS rate: 0.633696 deg/s, posRepo size: 4
2021-08-15T20:01:32.041Z,1629057692.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:32.415Z,1629057692.415 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:32.416Z,1629057692.416 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:32.417Z,1629057692.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:32.418Z,1629057692.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:32.822Z,1629057692.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,00402,186,80,80,71,FF
2021-08-15T20:01:32.822Z,1629057692.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:32.822Z,1629057692.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:32.824Z,1629057692.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:33.224Z,1629057693.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:33.629Z,1629057693.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00407,186,80,80,59,FF
2021-08-15T20:01:33.630Z,1629057693.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:33.714Z,1629057693.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:34.065Z,1629057694.065 [Micromodem](INFO): Nmea in: $SNTTA,0.060444,,,,200134.02*44

2021-08-15T20:01:34.099Z,1629057694.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.359999 m, bearing: 127.424747 deg, deltaT: 4.435074 s, approachRate: 0.067642 m/s, LOS rate: 0.091164 deg/s, posRepo size: 4
2021-08-15T20:01:36.508Z,1629057696.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:36.857Z,1629057696.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:36.857Z,1629057696.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:36.857Z,1629057696.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:36.858Z,1629057696.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:37.257Z,1629057697.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00407,186,80,80,59,FF
2021-08-15T20:01:37.257Z,1629057697.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:37.257Z,1629057697.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:37.259Z,1629057697.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:37.667Z,1629057697.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:38.069Z,1629057698.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,003FE,187,80,80,4E,FF
2021-08-15T20:01:38.070Z,1629057698.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:38.089Z,1629057698.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:38.513Z,1629057698.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200138.46*54

2021-08-15T20:01:38.539Z,1629057698.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 127.086775 deg, deltaT: 4.374632 s, approachRate: -0.123439 m/s, LOS rate: -0.077257 deg/s, posRepo size: 4
2021-08-15T20:01:40.942Z,1629057700.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:41.294Z,1629057701.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:41.294Z,1629057701.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:41.294Z,1629057701.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:41.295Z,1629057701.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:41.710Z,1629057701.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,003FE,187,80,80,4E,FF
2021-08-15T20:01:41.710Z,1629057701.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:41.710Z,1629057701.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:41.711Z,1629057701.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:42.109Z,1629057702.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:42.521Z,1629057702.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00406,186,80,80,55,FF
2021-08-15T20:01:42.521Z,1629057702.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:42.579Z,1629057702.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:42.945Z,1629057702.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200142.91*53

2021-08-15T20:01:42.979Z,1629057702.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 120.380008 deg, deltaT: 4.490322 s, approachRate: 0.106897 m/s, LOS rate: -1.493605 deg/s, posRepo size: 4
2021-08-15T20:01:45.362Z,1629057705.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:45.749Z,1629057705.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:45.750Z,1629057705.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:45.750Z,1629057705.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:45.751Z,1629057705.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:46.145Z,1629057706.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00406,186,80,80,55,FF
2021-08-15T20:01:46.145Z,1629057706.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:46.145Z,1629057706.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:46.147Z,1629057706.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:46.567Z,1629057706.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:47.383Z,1629057707.383 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200147.34*59

2021-08-15T20:01:48.209Z,1629057708.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:49.790Z,1629057709.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,55,FF
2021-08-15T20:01:49.790Z,1629057709.790 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,55,FF
2021-08-15T20:01:49.790Z,1629057709.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:01:51.014Z,1629057711.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:51.400Z,1629057711.400 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:51.400Z,1629057711.400 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:51.400Z,1629057711.400 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:51.401Z,1629057711.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:51.801Z,1629057711.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,55,FF
2021-08-15T20:01:51.801Z,1629057711.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:51.801Z,1629057711.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:51.803Z,1629057711.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:52.215Z,1629057712.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:52.610Z,1629057712.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,0040D,186,80,80,7B,FF
2021-08-15T20:01:52.610Z,1629057712.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:52.639Z,1629057712.639 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:53.054Z,1629057713.054 [Micromodem](INFO): Nmea in: $SNTTA,0.040961,,,,200153.00*4F

2021-08-15T20:01:53.093Z,1629057713.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 123.666449 deg, deltaT: 10.059839 s, approachRate: 0.041750 m/s, LOS rate: 0.326689 deg/s, posRepo size: 4
2021-08-15T20:01:55.552Z,1629057715.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:01:55.841Z,1629057715.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:01:55.841Z,1629057715.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:01:55.841Z,1629057715.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:01:55.842Z,1629057715.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:01:56.254Z,1629057716.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,0040D,186,80,80,7B,FF
2021-08-15T20:01:56.254Z,1629057716.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:01:56.254Z,1629057716.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:01:56.255Z,1629057716.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:01:56.656Z,1629057716.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:01:57.053Z,1629057717.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,004CC,184,80,80,25,FF
2021-08-15T20:01:57.053Z,1629057717.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:01:57.073Z,1629057717.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:01:57.529Z,1629057717.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200157.45*5E

2021-08-15T20:01:57.595Z,1629057717.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 110.316680 deg, deltaT: 4.433636 s, approachRate: 2.584786 m/s, LOS rate: -3.011020 deg/s, posRepo size: 4
2021-08-15T20:01:58.749Z,1629057718.749 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T20:01:58.750Z,1629057718.750 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T20:01:58.750Z,1629057718.750 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T20:01:58.750Z,1629057718.750 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:01:58.750Z,1629057718.750 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T20:01:59.390Z,1629057719.390 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 395A19611B0000005D00000400260000000000000000151D80030C5669C08C799838580B004496406BA74319B30ACC0C55FDC3C47E223215E9F320
2021-08-15T20:01:59.391Z,1629057719.391 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:01:59.754Z,1629057719.754 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:01:59.829Z,1629057719.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:00.149Z,1629057720.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:00.149Z,1629057720.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:00.149Z,1629057720.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:00.150Z,1629057720.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:00.169Z,1629057720.169 [Micromodem](INFO): Nmea in: $CADRQ,200200,1,10,0,64,1*76

2021-08-15T20:02:00.170Z,1629057720.170 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611B0000005D00000400260000000000000000151D80030C5669C08C799838580B004496406BA74319B30ACC0C55FDC3C47E223215E9F320*40

2021-08-15T20:02:00.565Z,1629057720.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,004CC,184,80,80,25,FF
2021-08-15T20:02:00.565Z,1629057720.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:00.565Z,1629057720.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:00.566Z,1629057720.566 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T20:02:00.567Z,1629057720.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:00.962Z,1629057720.962 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T20:02:00.962Z,1629057720.962 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-15T20:02:02.262Z,1629057722.262 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T20:02:02.263Z,1629057722.263 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-15T20:02:02.332Z,1629057722.332 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:02.667Z,1629057722.667 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200201.385512,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*56

2021-08-15T20:02:02.668Z,1629057722.668 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,200201.385512,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*56

2021-08-15T20:02:05.125Z,1629057725.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:06.456Z,1629057726.456 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.305772
2021-08-15T20:02:07.935Z,1629057727.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:08.193Z,1629057728.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:08.193Z,1629057728.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:08.193Z,1629057728.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:08.194Z,1629057728.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:08.605Z,1629057728.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,004CC,184,80,80,25,FF
2021-08-15T20:02:08.605Z,1629057728.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:08.606Z,1629057728.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:10.651Z,1629057730.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:11.850Z,1629057731.850 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:12.405Z,1629057732.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:12.797Z,1629057732.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00424,187,80,80,31,FF
2021-08-15T20:02:12.798Z,1629057732.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:12.822Z,1629057732.822 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:13.213Z,1629057733.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200213.05*59

2021-08-15T20:02:13.278Z,1629057733.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 119.557038 deg, deltaT: 15.749382 s, approachRate: -0.640025 m/s, LOS rate: 0.586712 deg/s, posRepo size: 4
2021-08-15T20:02:15.395Z,1629057735.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:15.725Z,1629057735.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:15.725Z,1629057735.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:15.725Z,1629057735.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:15.726Z,1629057735.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:16.129Z,1629057736.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00424,187,80,80,31,FF
2021-08-15T20:02:16.129Z,1629057736.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:16.129Z,1629057736.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:16.131Z,1629057736.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:16.552Z,1629057736.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:16.937Z,1629057736.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,0040F,186,80,80,63,FF
2021-08-15T20:02:16.937Z,1629057736.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:16.957Z,1629057736.957 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:17.386Z,1629057737.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200217.33*58

2021-08-15T20:02:17.412Z,1629057737.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.840002 m, bearing: 121.538654 deg, deltaT: 4.135026 s, approachRate: -0.304713 m/s, LOS rate: 0.479227 deg/s, posRepo size: 4
2021-08-15T20:02:19.613Z,1629057739.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:19.895Z,1629057739.895 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:19.895Z,1629057739.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:19.895Z,1629057739.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:19.897Z,1629057739.897 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:20.307Z,1629057740.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,0040F,186,80,80,63,FF
2021-08-15T20:02:20.307Z,1629057740.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:20.307Z,1629057740.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:20.309Z,1629057740.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:20.910Z,1629057740.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:21.309Z,1629057741.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,0040E,185,80,80,7C,FF
2021-08-15T20:02:21.310Z,1629057741.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:21.386Z,1629057741.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:21.729Z,1629057741.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200221.51*59

2021-08-15T20:02:21.832Z,1629057741.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 119.986862 deg, deltaT: 4.428805 s, approachRate: -0.013548 m/s, LOS rate: -0.350386 deg/s, posRepo size: 4
2021-08-15T20:02:24.176Z,1629057744.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:24.537Z,1629057744.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:24.537Z,1629057744.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:24.537Z,1629057744.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:24.538Z,1629057744.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:25.058Z,1629057745.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,0040E,185,80,80,7C,FF
2021-08-15T20:02:25.058Z,1629057745.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:25.059Z,1629057745.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:25.060Z,1629057745.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:25.521Z,1629057745.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:26.284Z,1629057746.284 [Micromodem](INFO): Nmea in: $SNTTA,0.030414,,,,200226.26*42

2021-08-15T20:02:26.944Z,1629057746.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:27.203Z,1629057747.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,03730,187,80,80,2F,FF
2021-08-15T20:02:27.203Z,1629057747.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:27.234Z,1629057747.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:27.683Z,1629057747.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 810.179993 m, bearing: 117.629163 deg, deltaT: 5.848928 s, approachRate: 134.281021 m/s, LOS rate: -0.403099 deg/s, posRepo size: 4
2021-08-15T20:02:28.071Z,1629057748.071 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:02:28.071Z,1629057748.071 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:02:28.088Z,1629057748.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:02:28.088Z,1629057748.088 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:02:28.089Z,1629057748.089 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:02:28.089Z,1629057748.089 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:02:28.472Z,1629057748.472 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:02:28.473Z,1629057748.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:02:28.473Z,1629057748.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:02:28.473Z,1629057748.473 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:02:30.087Z,1629057750.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:30.445Z,1629057750.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:30.445Z,1629057750.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:30.446Z,1629057750.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:30.447Z,1629057750.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:30.849Z,1629057750.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,03730,187,80,80,2F,FF
2021-08-15T20:02:30.849Z,1629057750.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:30.849Z,1629057750.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:30.851Z,1629057750.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:31.393Z,1629057751.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:31.789Z,1629057751.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,00420,186,80,80,83,FF
2021-08-15T20:02:31.789Z,1629057751.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:32.205Z,1629057752.205 [Micromodem](INFO): Nmea in: $SNTTA,0.060198,,,,200232.05*42

2021-08-15T20:02:32.259Z,1629057752.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 119.328855 deg, deltaT: 4.669135 s, approachRate: -167.979721 m/s, LOS rate: 0.364027 deg/s, posRepo size: 4
2021-08-15T20:02:32.650Z,1629057752.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:02:32.650Z,1629057752.650 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:02:32.651Z,1629057752.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:02:32.651Z,1629057752.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:02:32.651Z,1629057752.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:02:32.651Z,1629057752.651 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:02:33.250Z,1629057753.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:02:33.250Z,1629057753.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:02:33.250Z,1629057753.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:02:33.250Z,1629057753.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:02:34.693Z,1629057754.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:35.057Z,1629057755.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:35.057Z,1629057755.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:35.057Z,1629057755.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:35.058Z,1629057755.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:35.521Z,1629057755.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,00420,186,80,80,83,FF
2021-08-15T20:02:35.521Z,1629057755.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:35.522Z,1629057755.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:35.532Z,1629057755.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:35.961Z,1629057755.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:36.785Z,1629057756.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200236.73*5F

2021-08-15T20:02:37.436Z,1629057757.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:38.837Z,1629057758.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,83,FF
2021-08-15T20:02:38.838Z,1629057758.838 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,83,FF
2021-08-15T20:02:38.838Z,1629057758.838 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:02:40.201Z,1629057760.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:40.569Z,1629057760.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:40.569Z,1629057760.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:40.569Z,1629057760.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:40.570Z,1629057760.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:40.974Z,1629057760.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,83,FF
2021-08-15T20:02:40.974Z,1629057760.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:40.974Z,1629057760.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:40.976Z,1629057760.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:41.388Z,1629057761.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:41.789Z,1629057761.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0040B,183,80,80,71,FF
2021-08-15T20:02:41.789Z,1629057761.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:41.892Z,1629057761.892 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:42.217Z,1629057762.217 [Micromodem](INFO): Nmea in: $SNTTA,,0.201077,,,200242.17*43

2021-08-15T20:02:42.253Z,1629057762.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 113.589891 deg, deltaT: 9.988492 s, approachRate: -0.126145 m/s, LOS rate: -0.574558 deg/s, posRepo size: 4
2021-08-15T20:02:44.411Z,1629057764.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:44.765Z,1629057764.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:44.766Z,1629057764.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:44.766Z,1629057764.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:44.767Z,1629057764.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:45.185Z,1629057765.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0040B,183,80,80,71,FF
2021-08-15T20:02:45.185Z,1629057765.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:45.185Z,1629057765.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:45.187Z,1629057765.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:45.592Z,1629057765.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:46.185Z,1629057766.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00408,184,80,80,82,FF
2021-08-15T20:02:46.186Z,1629057766.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:46.237Z,1629057766.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:46.589Z,1629057766.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200246.38*57

2021-08-15T20:02:46.638Z,1629057766.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 112.401677 deg, deltaT: 4.344837 s, approachRate: -0.041428 m/s, LOS rate: -0.273477 deg/s, posRepo size: 4
2021-08-15T20:02:49.027Z,1629057769.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:49.440Z,1629057769.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:49.441Z,1629057769.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:49.442Z,1629057769.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:49.443Z,1629057769.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:49.905Z,1629057769.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00408,184,80,80,82,FF
2021-08-15T20:02:49.905Z,1629057769.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:49.905Z,1629057769.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:49.906Z,1629057769.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:50.496Z,1629057770.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:51.263Z,1629057771.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200251.11*5A

2021-08-15T20:02:51.763Z,1629057771.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:53.403Z,1629057773.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,82,FF
2021-08-15T20:02:53.404Z,1629057773.404 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,82,FF
2021-08-15T20:02:53.404Z,1629057773.404 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:02:54.672Z,1629057774.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:55.020Z,1629057775.020 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:55.021Z,1629057775.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:55.021Z,1629057775.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:55.022Z,1629057775.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:02:55.425Z,1629057775.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,82,FF
2021-08-15T20:02:55.425Z,1629057775.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:02:55.426Z,1629057775.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:02:55.453Z,1629057775.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:02:55.836Z,1629057775.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:02:56.225Z,1629057776.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0040E,183,80,80,78,FF
2021-08-15T20:02:56.225Z,1629057776.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:02:56.543Z,1629057776.543 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:02:56.849Z,1629057776.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200256.65*5E

2021-08-15T20:02:56.871Z,1629057776.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.779999 m, bearing: 116.003318 deg, deltaT: 10.305404 s, approachRate: 0.034933 m/s, LOS rate: 0.349490 deg/s, posRepo size: 4
2021-08-15T20:02:59.344Z,1629057779.344 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:02:59.669Z,1629057779.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:02:59.669Z,1629057779.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:02:59.669Z,1629057779.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:02:59.670Z,1629057779.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:00.082Z,1629057780.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0040E,183,80,80,78,FF
2021-08-15T20:03:00.083Z,1629057780.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:00.083Z,1629057780.083 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:00.085Z,1629057780.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:00.508Z,1629057780.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:00.893Z,1629057780.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,0040C,184,80,80,75,FF
2021-08-15T20:03:00.893Z,1629057780.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:00.937Z,1629057780.937 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:01.317Z,1629057781.317 [Micromodem](INFO): Nmea in: $SNTTA,0.027863,,,,200301.28*42

2021-08-15T20:03:01.353Z,1629057781.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 119.687358 deg, deltaT: 4.394264 s, approachRate: -0.027309 m/s, LOS rate: 0.838375 deg/s, posRepo size: 4
2021-08-15T20:03:03.777Z,1629057783.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:04.125Z,1629057784.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:04.125Z,1629057784.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:04.125Z,1629057784.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:04.126Z,1629057784.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:04.529Z,1629057784.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,0040C,184,80,80,75,FF
2021-08-15T20:03:04.529Z,1629057784.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:04.530Z,1629057784.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:04.531Z,1629057784.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:04.936Z,1629057784.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:04.948Z,1629057784.948 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:03:05.645Z,1629057785.645 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 395A19611B0000005D00000400260000000000000000151D80030C5669C08C799838580B004496406BA74319B30ACC0C55FDC3C47E223215E9F320
2021-08-15T20:03:05.645Z,1629057785.645 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:03:05.994Z,1629057785.994 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:03:06.378Z,1629057786.378 [Micromodem](INFO): Nmea in: $CADRQ,200306,1,10,0,64,1*71

2021-08-15T20:03:06.378Z,1629057786.378 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611B0000005D00000400260000000000000000151D80030C5669C08C799838580B004496406BA74319B30ACC0C55FDC3C47E223215E9F320*40

2021-08-15T20:03:06.485Z,1629057786.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:06.779Z,1629057786.779 [Micromodem](INFO): Nmea in: $SNTTA,0.039185,,,,200305.73*46

2021-08-15T20:03:06.780Z,1629057786.780 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.039185,,,,200305.73*46

2021-08-15T20:03:08.005Z,1629057788.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,75,FF
2021-08-15T20:03:08.005Z,1629057788.005 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,75,FF
2021-08-15T20:03:08.005Z,1629057788.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:03:08.007Z,1629057788.007 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T20:03:08.444Z,1629057788.444 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T20:03:08.814Z,1629057788.814 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T20:03:09.204Z,1629057789.204 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200307.599646,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*58

2021-08-15T20:03:09.616Z,1629057789.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:09.793Z,1629057789.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:09.793Z,1629057789.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:09.793Z,1629057789.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:09.794Z,1629057789.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:10.191Z,1629057790.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,75,FF
2021-08-15T20:03:10.192Z,1629057790.192 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:10.193Z,1629057790.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:10.221Z,1629057790.221 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T20:03:10.223Z,1629057790.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:10.599Z,1629057790.599 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815200310.406670,06,32767,45,0107,0150,07,01,01,00,01,1,010,001,,4,1,0,0,13.,2.12,2,.8,-01,0.15,49,14500,00*43

2021-08-15T20:03:10.600Z,1629057790.600 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CACST,6,0,20210815200310.406670,06,32767,45,0107,0150,07,01,01,00,01,1,010,001,,4,1,0,0,13.,2.12,2,.8,-01,0.15,49,14500,00*43
 expected 7C
2021-08-15T20:03:10.600Z,1629057790.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:10.603Z,1629057790.603 [Micromodem](INFO): Sent 51 bytes from file Logs/20210815T181729/Courier0027.lzma.parts
2021-08-15T20:03:10.605Z,1629057790.605 [Micromodem](INFO): Packets left to send: 0
2021-08-15T20:03:11.013Z,1629057791.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,003FF,185,80,80,69,FF
2021-08-15T20:03:11.014Z,1629057791.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:11.022Z,1629057791.022 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,200311,AUV,2..002B
 expected 69
2021-08-15T20:03:11.022Z,1629057791.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:11.341Z,1629057791.341 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500
2021-08-15T20:03:11.378Z,1629057791.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:11.889Z,1629057791.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.880001 m, bearing: 119.750059 deg, deltaT: 10.440779 s, approachRate: -0.074707 m/s, LOS rate: 0.006005 deg/s, posRepo size: 4
2021-08-15T20:03:12.178Z,1629057792.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:12.192Z,1629057792.192 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:03:12.573Z,1629057792.573 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:03:12.977Z,1629057792.977 [Micromodem](INFO): Nmea in: $CADRQ,200313,1,10,0,64,1*75

2021-08-15T20:03:12.977Z,1629057792.977 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500*3D

2021-08-15T20:03:13.373Z,1629057793.373 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T20:03:13.778Z,1629057793.778 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T20:03:14.194Z,1629057794.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:14.573Z,1629057794.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:14.573Z,1629057794.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:14.573Z,1629057794.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:14.574Z,1629057794.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:15.001Z,1629057795.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,003FF,185,80,80,69,FF
2021-08-15T20:03:15.001Z,1629057795.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:15.001Z,1629057795.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:15.003Z,1629057795.003 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T20:03:15.024Z,1629057795.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:15.406Z,1629057795.406 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200314.199602,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T20:03:15.406Z,1629057795.406 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,200314.199602,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T20:03:15.793Z,1629057795.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:16.362Z,1629057796.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200316.22*58

2021-08-15T20:03:16.792Z,1629057796.792 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:18.499Z,1629057798.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,69,FF
2021-08-15T20:03:18.499Z,1629057798.499 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,69,FF
2021-08-15T20:03:18.500Z,1629057798.500 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:03:19.364Z,1629057799.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:19.673Z,1629057799.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:19.673Z,1629057799.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:19.673Z,1629057799.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:19.674Z,1629057799.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:20.079Z,1629057800.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,69,FF
2021-08-15T20:03:20.079Z,1629057800.079 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:20.080Z,1629057800.080 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:20.081Z,1629057800.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:20.504Z,1629057800.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:20.889Z,1629057800.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,00402,184,80,80,8F,FF
2021-08-15T20:03:20.889Z,1629057800.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:20.934Z,1629057800.934 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:21.326Z,1629057801.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200321.28*56

2021-08-15T20:03:21.351Z,1629057801.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 122.092391 deg, deltaT: 9.556352 s, approachRate: 0.018835 m/s, LOS rate: 0.245107 deg/s, posRepo size: 4
2021-08-15T20:03:23.622Z,1629057803.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:23.917Z,1629057803.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:23.917Z,1629057803.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:23.917Z,1629057803.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:23.918Z,1629057803.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:24.345Z,1629057804.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,00402,184,80,80,8F,FF
2021-08-15T20:03:24.346Z,1629057804.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:24.346Z,1629057804.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:24.353Z,1629057804.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:24.941Z,1629057804.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:25.350Z,1629057805.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00401,186,80,80,AB,FF
2021-08-15T20:03:25.350Z,1629057805.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:25.377Z,1629057805.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:25.765Z,1629057805.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200325.55*58

2021-08-15T20:03:25.863Z,1629057805.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 111.531429 deg, deltaT: 4.443131 s, approachRate: -0.013503 m/s, LOS rate: -2.376919 deg/s, posRepo size: 4
2021-08-15T20:03:28.222Z,1629057808.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:28.577Z,1629057808.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:28.577Z,1629057808.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:28.577Z,1629057808.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:28.578Z,1629057808.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:29.049Z,1629057809.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00401,186,80,80,AB,FF
2021-08-15T20:03:29.049Z,1629057809.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:29.049Z,1629057809.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:29.051Z,1629057809.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:29.504Z,1629057809.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:29.853Z,1629057809.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,003F4,189,80,80,93,FF
2021-08-15T20:03:29.854Z,1629057809.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:29.942Z,1629057809.942 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:30.300Z,1629057810.300 [Micromodem](INFO): Nmea in: $SNTTA,0.036207,,,,200330.25*45

2021-08-15T20:03:30.327Z,1629057810.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 157.016214 deg, deltaT: 4.565134 s, approachRate: -0.170861 m/s, LOS rate: 9.963515 deg/s, posRepo size: 4
2021-08-15T20:03:32.722Z,1629057812.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:33.101Z,1629057813.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:33.101Z,1629057813.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:33.101Z,1629057813.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:33.102Z,1629057813.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:33.557Z,1629057813.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,003F4,189,80,80,93,FF
2021-08-15T20:03:33.557Z,1629057813.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:33.557Z,1629057813.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:33.559Z,1629057813.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:33.905Z,1629057813.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:34.299Z,1629057814.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,003F5,185,80,80,75,FF
2021-08-15T20:03:34.300Z,1629057814.300 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:34.319Z,1629057814.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:34.783Z,1629057814.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 100.753186 deg, deltaT: 4.377309 s, approachRate: 0.013708 m/s, LOS rate: -12.853337 deg/s, posRepo size: 4
2021-08-15T20:03:35.131Z,1629057815.131 [Micromodem](INFO): Nmea in: $SNTTA,0.043394,,,,200334.76*4E

2021-08-15T20:03:37.457Z,1629057817.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:37.645Z,1629057817.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:37.645Z,1629057817.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:37.645Z,1629057817.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:37.646Z,1629057817.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:38.057Z,1629057818.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,003F5,185,80,80,75,FF
2021-08-15T20:03:38.058Z,1629057818.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:38.058Z,1629057818.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:38.060Z,1629057818.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:38.488Z,1629057818.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:38.862Z,1629057818.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00401,186,80,80,33,FF
2021-08-15T20:03:38.862Z,1629057818.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:38.908Z,1629057818.908 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:39.294Z,1629057819.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200339.26*51

2021-08-15T20:03:39.331Z,1629057819.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 134.791365 deg, deltaT: 4.588727 s, approachRate: 0.156907 m/s, LOS rate: 7.417783 deg/s, posRepo size: 4
2021-08-15T20:03:41.803Z,1629057821.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:41.978Z,1629057821.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:41.978Z,1629057821.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:41.979Z,1629057821.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:41.980Z,1629057821.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:42.429Z,1629057822.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00401,186,80,80,33,FF
2021-08-15T20:03:42.429Z,1629057822.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:42.430Z,1629057822.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:42.435Z,1629057822.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:42.812Z,1629057822.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:43.225Z,1629057823.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D19,000,003F4,189,80,80,53,FF
2021-08-15T20:03:43.226Z,1629057823.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:43.299Z,1629057823.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:43.645Z,1629057823.645 [Micromodem](INFO): Nmea in: $SNTTA,0.045002,,,,200343.64*47

2021-08-15T20:03:43.699Z,1629057823.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 154.495710 deg, deltaT: 4.390367 s, approachRate: -0.177663 m/s, LOS rate: 4.488086 deg/s, posRepo size: 4
2021-08-15T20:03:46.082Z,1629057826.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:46.489Z,1629057826.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:46.489Z,1629057826.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:46.489Z,1629057826.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:46.490Z,1629057826.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:46.873Z,1629057826.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D19,000,003F4,189,80,80,53,FF
2021-08-15T20:03:46.873Z,1629057826.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:46.873Z,1629057826.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:46.875Z,1629057826.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:47.282Z,1629057827.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:47.677Z,1629057827.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,003FB,186,80,80,67,FF
2021-08-15T20:03:47.677Z,1629057827.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:47.771Z,1629057827.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:48.109Z,1629057828.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200348.08*5B

2021-08-15T20:03:48.147Z,1629057828.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 97.057439 deg, deltaT: 4.477057 s, approachRate: 0.093812 m/s, LOS rate: -12.829470 deg/s, posRepo size: 4
2021-08-15T20:03:50.755Z,1629057830.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:50.917Z,1629057830.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:50.917Z,1629057830.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:50.917Z,1629057830.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:50.918Z,1629057830.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:51.326Z,1629057831.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,003FB,186,80,80,67,FF
2021-08-15T20:03:51.326Z,1629057831.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:51.326Z,1629057831.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:51.328Z,1629057831.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:51.724Z,1629057831.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:52.125Z,1629057832.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,003FB,187,80,80,38,FF
2021-08-15T20:03:52.126Z,1629057832.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:52.145Z,1629057832.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:52.565Z,1629057832.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200352.53*5E

2021-08-15T20:03:52.602Z,1629057832.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 100.631076 deg, deltaT: 4.369021 s, approachRate: 0.000000 m/s, LOS rate: 0.817949 deg/s, posRepo size: 4
2021-08-15T20:03:55.221Z,1629057835.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:55.365Z,1629057835.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:55.365Z,1629057835.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:55.365Z,1629057835.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:55.366Z,1629057835.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:03:55.773Z,1629057835.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,003FB,187,80,80,38,FF
2021-08-15T20:03:55.773Z,1629057835.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:03:55.773Z,1629057835.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:03:55.775Z,1629057835.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:03:56.169Z,1629057836.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:03:56.566Z,1629057836.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003EF,187,80,80,89,FF
2021-08-15T20:03:56.566Z,1629057836.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:03:56.650Z,1629057836.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:03:57.025Z,1629057837.025 [Micromodem](INFO): Nmea in: $SNTTA,0.047906,,,,200356.97*40

2021-08-15T20:03:57.277Z,1629057837.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.919998 m, bearing: 142.067115 deg, deltaT: 4.505374 s, approachRate: -0.159809 m/s, LOS rate: 9.197026 deg/s, posRepo size: 4
2021-08-15T20:03:59.577Z,1629057839.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:03:59.865Z,1629057839.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:03:59.865Z,1629057839.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:03:59.865Z,1629057839.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:03:59.866Z,1629057839.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:00.285Z,1629057840.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,003EF,187,80,80,89,FF
2021-08-15T20:04:00.285Z,1629057840.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:00.286Z,1629057840.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:00.288Z,1629057840.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:00.677Z,1629057840.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:01.077Z,1629057841.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,003F5,186,80,80,3E,FF
2021-08-15T20:04:01.077Z,1629057841.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:01.346Z,1629057841.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:01.585Z,1629057841.585 [Micromodem](INFO): Nmea in: $SNTTA,0.067631,,,,200401.49*4F

2021-08-15T20:04:01.687Z,1629057841.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 131.862608 deg, deltaT: 4.696170 s, approachRate: 0.076659 m/s, LOS rate: -2.172943 deg/s, posRepo size: 4
2021-08-15T20:04:04.010Z,1629057844.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:04.420Z,1629057844.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:04.421Z,1629057844.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:04.421Z,1629057844.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:04.422Z,1629057844.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:04.797Z,1629057844.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,003F5,186,80,80,3E,FF
2021-08-15T20:04:04.797Z,1629057844.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:04.797Z,1629057844.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:04.799Z,1629057844.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:05.208Z,1629057845.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:05.633Z,1629057845.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7E,000,003F3,186,80,80,5A,FF
2021-08-15T20:04:05.634Z,1629057845.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:05.637Z,1629057845.637 [Micromodem](INFO): Nmea in: $SNTTA,0.048918,0.287330,,,200406.00*5F

2021-08-15T20:04:05.745Z,1629057845.745 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:06.048Z,1629057846.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 133.616709 deg, deltaT: 4.398759 s, approachRate: -0.027281 m/s, LOS rate: 0.398772 deg/s, posRepo size: 4
2021-08-15T20:04:08.551Z,1629057848.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:08.913Z,1629057848.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:08.913Z,1629057848.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:08.913Z,1629057848.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:08.914Z,1629057848.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:09.325Z,1629057849.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7E,000,003F3,186,80,80,5A,FF
2021-08-15T20:04:09.325Z,1629057849.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:09.325Z,1629057849.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:09.327Z,1629057849.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:09.749Z,1629057849.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:10.052Z,1629057850.052 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:04:10.233Z,1629057850.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,003F2,187,80,80,37,FF
2021-08-15T20:04:10.234Z,1629057850.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:10.326Z,1629057850.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:10.661Z,1629057850.661 [Micromodem](INFO): Nmea in: $SNTTA,0.032141,,,,200410.53*44

2021-08-15T20:04:10.703Z,1629057850.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 120.828901 deg, deltaT: 4.580680 s, approachRate: -0.013099 m/s, LOS rate: -2.791683 deg/s, posRepo size: 4
2021-08-15T20:04:11.249Z,1629057851.249 [CTD_Seabird](ERROR): Failed to parse device response: .68
2021-08-15T20:04:13.102Z,1629057853.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:13.516Z,1629057853.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:13.516Z,1629057853.516 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:13.517Z,1629057853.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:13.518Z,1629057853.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:13.878Z,1629057853.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,003F2,187,80,80,37,FF
2021-08-15T20:04:13.879Z,1629057853.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:13.879Z,1629057853.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:13.883Z,1629057853.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:14.506Z,1629057854.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,003F2,186,80,80,37,FF
2021-08-15T20:04:14.506Z,1629057854.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:14.513Z,1629057854.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:14.596Z,1629057854.596 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:14.931Z,1629057854.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 125.532252 deg, deltaT: 4.270539 s, approachRate: 0.000000 m/s, LOS rate: 1.101348 deg/s, posRepo size: 4
2021-08-15T20:04:15.333Z,1629057855.333 [Micromodem](INFO): Nmea in: $SNTTA,0.033137,,,,200415.08*4F

2021-08-15T20:04:16.689Z,1629057856.689 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:04:17.317Z,1629057857.317 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500
2021-08-15T20:04:17.317Z,1629057857.317 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:04:17.383Z,1629057857.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:17.566Z,1629057857.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:17.566Z,1629057857.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:17.567Z,1629057857.567 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:17.568Z,1629057857.568 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:17.574Z,1629057857.574 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:04:17.942Z,1629057857.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,003F2,186,80,80,37,FF
2021-08-15T20:04:17.942Z,1629057857.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:17.943Z,1629057857.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:17.945Z,1629057857.945 [Micromodem](INFO): Nmea in: $CADRQ,200418,1,10,0,64,1*79

2021-08-15T20:04:17.947Z,1629057857.947 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500*3D

2021-08-15T20:04:18.346Z,1629057858.346 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T20:04:18.346Z,1629057858.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:18.747Z,1629057858.747 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T20:04:18.747Z,1629057858.747 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T20:04:19.982Z,1629057859.982 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T20:04:19.982Z,1629057859.982 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T20:04:20.041Z,1629057860.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:20.362Z,1629057860.362 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200419.167118,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-15T20:04:20.363Z,1629057860.363 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,200419.167118,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*53

2021-08-15T20:04:22.736Z,1629057862.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:23.780Z,1629057863.780 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.212466
2021-08-15T20:04:25.460Z,1629057865.460 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:25.798Z,1629057865.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:25.798Z,1629057865.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:25.798Z,1629057865.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:25.799Z,1629057865.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:26.198Z,1629057866.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,003F2,186,80,80,37,FF
2021-08-15T20:04:26.198Z,1629057866.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:26.199Z,1629057866.199 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:28.309Z,1629057868.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:29.606Z,1629057869.606 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:29.721Z,1629057869.721 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:04:30.015Z,1629057870.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:30.409Z,1629057870.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,003E7,187,80,80,91,FF
2021-08-15T20:04:30.410Z,1629057870.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:30.508Z,1629057870.508 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:30.862Z,1629057870.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200430.81*52

2021-08-15T20:04:30.886Z,1629057870.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 119.186173 deg, deltaT: 15.912262 s, approachRate: -0.041477 m/s, LOS rate: -0.398817 deg/s, posRepo size: 4
2021-08-15T20:04:33.632Z,1629057873.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:33.845Z,1629057873.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:33.845Z,1629057873.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:33.845Z,1629057873.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:33.846Z,1629057873.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:34.249Z,1629057874.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,003E7,187,80,80,91,FF
2021-08-15T20:04:34.249Z,1629057874.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:34.249Z,1629057874.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:34.251Z,1629057874.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:34.640Z,1629057874.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:35.050Z,1629057875.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,003E5,186,80,80,59,FF
2021-08-15T20:04:35.051Z,1629057875.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:35.114Z,1629057875.114 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:35.525Z,1629057875.525 [Micromodem](INFO): Nmea in: $SNTTA,0.045739,,,,200435.45*4D

2021-08-15T20:04:35.790Z,1629057875.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 122.241303 deg, deltaT: 4.605387 s, approachRate: -0.026057 m/s, LOS rate: 0.663382 deg/s, posRepo size: 4
2021-08-15T20:04:37.763Z,1629057877.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:38.105Z,1629057878.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:38.105Z,1629057878.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:38.105Z,1629057878.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:38.106Z,1629057878.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:38.505Z,1629057878.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,003E5,186,80,80,59,FF
2021-08-15T20:04:38.505Z,1629057878.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:38.506Z,1629057878.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:38.507Z,1629057878.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:38.921Z,1629057878.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:39.328Z,1629057879.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,003E0,187,80,80,8D,FF
2021-08-15T20:04:39.329Z,1629057879.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:39.439Z,1629057879.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:39.746Z,1629057879.746 [Micromodem](INFO): Nmea in: $SNTTA,0.055217,0.433605,,,200439.71*57

2021-08-15T20:04:40.006Z,1629057880.006 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:04:40.019Z,1629057880.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 121.077753 deg, deltaT: 4.330364 s, approachRate: -0.069278 m/s, LOS rate: -0.268696 deg/s, posRepo size: 4
2021-08-15T20:04:42.035Z,1629057882.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:42.175Z,1629057882.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:42.176Z,1629057882.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:42.177Z,1629057882.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:42.179Z,1629057882.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:42.581Z,1629057882.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,003E0,187,80,80,8D,FF
2021-08-15T20:04:42.581Z,1629057882.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:42.581Z,1629057882.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:42.583Z,1629057882.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:42.988Z,1629057882.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:43.385Z,1629057883.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,003DD,184,80,80,76,FF
2021-08-15T20:04:43.385Z,1629057883.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:43.479Z,1629057883.479 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:43.813Z,1629057883.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200443.79*51

2021-08-15T20:04:43.875Z,1629057883.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 118.051951 deg, deltaT: 4.039766 s, approachRate: -0.044557 m/s, LOS rate: -0.749004 deg/s, posRepo size: 4
2021-08-15T20:04:46.521Z,1629057886.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:46.761Z,1629057886.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:46.761Z,1629057886.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:46.761Z,1629057886.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:46.762Z,1629057886.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:47.165Z,1629057887.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,003DD,184,80,80,76,FF
2021-08-15T20:04:47.165Z,1629057887.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:47.165Z,1629057887.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:47.167Z,1629057887.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:47.583Z,1629057887.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:47.969Z,1629057887.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,003D9,186,80,80,6C,FF
2021-08-15T20:04:47.969Z,1629057887.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:48.038Z,1629057888.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:48.397Z,1629057888.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200448.37*50

2021-08-15T20:04:48.704Z,1629057888.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 121.971770 deg, deltaT: 4.554096 s, approachRate: -0.052700 m/s, LOS rate: 0.860724 deg/s, posRepo size: 4
2021-08-15T20:04:49.714Z,1629057889.714 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:04:50.602Z,1629057890.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:50.863Z,1629057890.863 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:50.863Z,1629057890.863 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:50.863Z,1629057890.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:50.864Z,1629057890.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:51.262Z,1629057891.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,003D9,186,80,80,6C,FF
2021-08-15T20:04:51.262Z,1629057891.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:51.262Z,1629057891.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:51.266Z,1629057891.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:51.678Z,1629057891.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:52.065Z,1629057892.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,003CB,185,80,80,87,FF
2021-08-15T20:04:52.066Z,1629057892.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:52.156Z,1629057892.156 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:52.529Z,1629057892.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200452.47*5C

2021-08-15T20:04:52.793Z,1629057892.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.759998 m, bearing: 117.294238 deg, deltaT: 4.117699 s, approachRate: -0.203998 m/s, LOS rate: -1.135958 deg/s, posRepo size: 4
2021-08-15T20:04:54.783Z,1629057894.783 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:04:54.814Z,1629057894.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:55.025Z,1629057895.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:55.025Z,1629057895.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:55.025Z,1629057895.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:55.026Z,1629057895.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:55.454Z,1629057895.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,003CB,185,80,80,87,FF
2021-08-15T20:04:55.455Z,1629057895.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:55.472Z,1629057895.472 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:55.474Z,1629057895.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:55.857Z,1629057895.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:04:56.263Z,1629057896.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,003DD,187,80,80,8A,FF
2021-08-15T20:04:56.264Z,1629057896.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:04:56.295Z,1629057896.295 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:04:56.676Z,1629057896.676 [Micromodem](INFO): Nmea in: $SNTTA,0.056542,,,,200456.67*44

2021-08-15T20:04:56.735Z,1629057896.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 121.328366 deg, deltaT: 4.138996 s, approachRate: 0.260934 m/s, LOS rate: 0.974664 deg/s, posRepo size: 4
2021-08-15T20:04:58.967Z,1629057898.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:04:59.103Z,1629057899.103 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:04:59.103Z,1629057899.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:04:59.103Z,1629057899.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:04:59.104Z,1629057899.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:04:59.581Z,1629057899.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,003DD,187,80,80,8A,FF
2021-08-15T20:04:59.581Z,1629057899.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:04:59.581Z,1629057899.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:04:59.583Z,1629057899.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:04:59.613Z,1629057899.613 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T20:04:59.915Z,1629057899.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:00.325Z,1629057900.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,003D7,186,80,80,73,FF
2021-08-15T20:05:00.326Z,1629057900.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:00.362Z,1629057900.362 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:00.738Z,1629057900.738 [Micromodem](INFO): Nmea in: $SNTTA,0.044040,0.410478,,,200500.78*5C

2021-08-15T20:05:01.017Z,1629057901.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 121.336303 deg, deltaT: 4.066905 s, approachRate: -0.088520 m/s, LOS rate: 0.001952 deg/s, posRepo size: 4
2021-08-15T20:05:02.894Z,1629057902.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:03.241Z,1629057903.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:03.241Z,1629057903.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:03.241Z,1629057903.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:03.242Z,1629057903.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:03.645Z,1629057903.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,003D7,186,80,80,73,FF
2021-08-15T20:05:03.645Z,1629057903.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:03.645Z,1629057903.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:03.647Z,1629057903.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:04.044Z,1629057904.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:04.498Z,1629057904.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,003CC,185,80,80,A1,FF
2021-08-15T20:05:04.498Z,1629057904.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:04.526Z,1629057904.526 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:05:04.565Z,1629057904.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:04.889Z,1629057904.889 [Micromodem](INFO): Nmea in: $SNTTA,0.030885,,,,200504.85*48

2021-08-15T20:05:05.152Z,1629057905.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 119.493326 deg, deltaT: 4.203306 s, approachRate: -0.157019 m/s, LOS rate: -0.438459 deg/s, posRepo size: 4
2021-08-15T20:05:07.186Z,1629057907.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:07.402Z,1629057907.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:07.402Z,1629057907.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:07.402Z,1629057907.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:07.403Z,1629057907.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:07.797Z,1629057907.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,003CC,185,80,80,A1,FF
2021-08-15T20:05:07.797Z,1629057907.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:07.797Z,1629057907.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:07.799Z,1629057907.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:08.200Z,1629057908.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:08.601Z,1629057908.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,003D3,186,80,80,6C,FF
2021-08-15T20:05:08.601Z,1629057908.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:08.670Z,1629057908.670 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:09.050Z,1629057909.050 [Micromodem](INFO): Nmea in: $SNTTA,0.033935,,,,200509.00*41

2021-08-15T20:05:09.084Z,1629057909.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 126.005065 deg, deltaT: 4.105624 s, approachRate: 0.102297 m/s, LOS rate: 1.586053 deg/s, posRepo size: 4
2021-08-15T20:05:11.311Z,1629057911.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:11.577Z,1629057911.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:11.577Z,1629057911.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:11.577Z,1629057911.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:11.578Z,1629057911.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:11.981Z,1629057911.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,003D3,186,80,80,6C,FF
2021-08-15T20:05:11.981Z,1629057911.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:11.981Z,1629057911.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:11.983Z,1629057911.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:12.381Z,1629057912.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:12.785Z,1629057912.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,003C6,185,80,80,6C,FF
2021-08-15T20:05:12.785Z,1629057912.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:12.874Z,1629057912.874 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:13.214Z,1629057913.214 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200513.19*53

2021-08-15T20:05:13.553Z,1629057913.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 119.225433 deg, deltaT: 4.203320 s, approachRate: -0.185567 m/s, LOS rate: -1.612923 deg/s, posRepo size: 4
2021-08-15T20:05:14.553Z,1629057914.553 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:05:15.781Z,1629057915.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:16.113Z,1629057916.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:16.113Z,1629057916.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:16.113Z,1629057916.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:16.114Z,1629057916.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:16.523Z,1629057916.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,003C6,185,80,80,6C,FF
2021-08-15T20:05:16.523Z,1629057916.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:16.523Z,1629057916.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:16.526Z,1629057916.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:16.928Z,1629057916.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:17.345Z,1629057917.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,059,000,003D1,186,80,80,32,FF
2021-08-15T20:05:17.346Z,1629057917.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:17.666Z,1629057917.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:17.941Z,1629057917.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200517.73*5B

2021-08-15T20:05:17.976Z,1629057917.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 111.500857 deg, deltaT: 4.792309 s, approachRate: 0.137721 m/s, LOS rate: -1.611869 deg/s, posRepo size: 4
2021-08-15T20:05:19.886Z,1629057919.886 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T20:05:20.543Z,1629057920.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:20.897Z,1629057920.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:20.897Z,1629057920.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:20.897Z,1629057920.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:20.898Z,1629057920.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:21.309Z,1629057921.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
059,000,003D1,186,80,80,32,FF
2021-08-15T20:05:21.309Z,1629057921.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:21.309Z,1629057921.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:21.311Z,1629057921.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:21.738Z,1629057921.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:22.113Z,1629057922.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,003D4,187,80,80,72,FF
2021-08-15T20:05:22.113Z,1629057922.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:22.162Z,1629057922.162 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:22.545Z,1629057922.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200522.52*5E

2021-08-15T20:05:22.545Z,1629057922.545 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:05:22.632Z,1629057922.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 122.560122 deg, deltaT: 4.495779 s, approachRate: 0.040037 m/s, LOS rate: 2.459922 deg/s, posRepo size: 4
2021-08-15T20:05:23.158Z,1629057923.158 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500
2021-08-15T20:05:23.159Z,1629057923.159 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:05:23.805Z,1629057923.805 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:05:24.253Z,1629057924.253 [Micromodem](INFO): Nmea in: $CADRQ,200524,1,10,0,64,1*77

2021-08-15T20:05:24.253Z,1629057924.253 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500*3D

2021-08-15T20:05:24.628Z,1629057924.628 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T20:05:25.054Z,1629057925.054 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T20:05:25.119Z,1629057925.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:25.462Z,1629057925.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:25.462Z,1629057925.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:25.462Z,1629057925.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:25.463Z,1629057925.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:25.845Z,1629057925.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,003D4,187,80,80,72,FF
2021-08-15T20:05:25.846Z,1629057925.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:25.846Z,1629057925.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:25.847Z,1629057925.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:26.323Z,1629057926.323 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T20:05:26.323Z,1629057926.323 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T20:05:26.707Z,1629057926.707 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200525.473527,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T20:05:26.707Z,1629057926.707 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,200525.473527,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T20:05:27.947Z,1629057927.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:29.560Z,1629057929.560 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:05:30.661Z,1629057930.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:31.704Z,1629057931.704 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.241269
2021-08-15T20:05:33.162Z,1629057933.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:33.529Z,1629057933.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:33.529Z,1629057933.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:33.529Z,1629057933.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:33.530Z,1629057933.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:33.945Z,1629057933.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,003D4,187,80,80,72,FF
2021-08-15T20:05:33.945Z,1629057933.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:33.945Z,1629057933.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:36.020Z,1629057936.020 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:37.190Z,1629057937.190 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:37.585Z,1629057937.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:37.997Z,1629057937.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,003AC,187,80,80,86,FF
2021-08-15T20:05:37.997Z,1629057937.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:38.070Z,1629057938.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:38.434Z,1629057938.434 [Micromodem](INFO): Nmea in: $SNTTA,0.090076,,,,200538.39*4E

2021-08-15T20:05:38.503Z,1629057938.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 90.632048 deg, deltaT: 15.908047 s, approachRate: -0.150867 m/s, LOS rate: -2.007039 deg/s, posRepo size: 4
2021-08-15T20:05:40.953Z,1629057940.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:41.266Z,1629057941.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:41.266Z,1629057941.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:41.266Z,1629057941.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:41.267Z,1629057941.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:41.669Z,1629057941.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,003AC,187,80,80,86,FF
2021-08-15T20:05:41.669Z,1629057941.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:41.669Z,1629057941.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:41.671Z,1629057941.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:42.076Z,1629057942.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:42.493Z,1629057942.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,003C2,186,80,80,99,FF
2021-08-15T20:05:42.493Z,1629057942.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:42.594Z,1629057942.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:42.937Z,1629057942.937 [Micromodem](INFO): Nmea in: $SNTTA,0.091768,,,,200542.87*4F

2021-08-15T20:05:42.998Z,1629057942.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 120.759370 deg, deltaT: 4.523478 s, approachRate: 0.291811 m/s, LOS rate: 6.660212 deg/s, posRepo size: 4
2021-08-15T20:05:45.692Z,1629057945.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:45.821Z,1629057945.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:45.821Z,1629057945.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:45.822Z,1629057945.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:45.822Z,1629057945.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:46.225Z,1629057946.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,003C2,186,80,80,99,FF
2021-08-15T20:05:46.225Z,1629057946.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:46.226Z,1629057946.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:46.227Z,1629057946.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:46.643Z,1629057946.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:47.033Z,1629057947.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,003B0,187,80,80,7C,FF
2021-08-15T20:05:47.033Z,1629057947.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:47.061Z,1629057947.061 [Micromodem](INFO): Nmea in: $SNTTA,0.027299,0.211784,,,200547.43*53

2021-08-15T20:05:47.109Z,1629057947.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:47.499Z,1629057947.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 120.263348 deg, deltaT: 4.515399 s, approachRate: -0.239181 m/s, LOS rate: -0.109851 deg/s, posRepo size: 4
2021-08-15T20:05:50.250Z,1629057950.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:50.415Z,1629057950.415 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:50.416Z,1629057950.416 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:50.417Z,1629057950.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:50.418Z,1629057950.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:50.813Z,1629057950.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,003B0,187,80,80,7C,FF
2021-08-15T20:05:50.813Z,1629057950.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:50.813Z,1629057950.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:50.815Z,1629057950.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:51.221Z,1629057951.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:51.617Z,1629057951.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,003B1,189,80,80,3B,FF
2021-08-15T20:05:51.617Z,1629057951.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:51.716Z,1629057951.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:52.069Z,1629057952.069 [Micromodem](INFO): Nmea in: $SNTTA,0.065965,,,,200552.02*4B

2021-08-15T20:05:52.313Z,1629057952.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 81.686296 deg, deltaT: 4.607037 s, approachRate: 0.013023 m/s, LOS rate: -8.373506 deg/s, posRepo size: 4
2021-08-15T20:05:54.589Z,1629057954.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:54.943Z,1629057954.943 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:54.943Z,1629057954.943 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:54.943Z,1629057954.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:54.944Z,1629057954.944 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:55.341Z,1629057955.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,003B1,189,80,80,3B,FF
2021-08-15T20:05:55.341Z,1629057955.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:55.341Z,1629057955.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:55.343Z,1629057955.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:05:55.752Z,1629057955.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:05:56.141Z,1629057956.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,003AE,189,80,80,3B,FF
2021-08-15T20:05:56.141Z,1629057956.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:05:56.215Z,1629057956.215 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:05:56.593Z,1629057956.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200556.54*5B

2021-08-15T20:05:56.911Z,1629057956.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 71.147874 deg, deltaT: 4.498930 s, approachRate: -0.040009 m/s, LOS rate: -2.342429 deg/s, posRepo size: 4
2021-08-15T20:05:59.074Z,1629057959.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:05:59.369Z,1629057959.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:05:59.369Z,1629057959.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:05:59.369Z,1629057959.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:05:59.370Z,1629057959.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:05:59.766Z,1629057959.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,003AE,189,80,80,3B,FF
2021-08-15T20:05:59.766Z,1629057959.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:05:59.766Z,1629057959.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:05:59.784Z,1629057959.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:00.181Z,1629057960.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:00.572Z,1629057960.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0039E,186,80,80,6D,FF
2021-08-15T20:06:00.573Z,1629057960.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:00.602Z,1629057960.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:01.013Z,1629057961.013 [Micromodem](INFO): Nmea in: $SNTTA,0.028573,0.472870,,,200600.99*5F

2021-08-15T20:06:01.058Z,1629057961.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 128.429317 deg, deltaT: 4.387091 s, approachRate: -0.218824 m/s, LOS rate: 13.056817 deg/s, posRepo size: 4
2021-08-15T20:06:03.282Z,1629057963.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:03.493Z,1629057963.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:03.493Z,1629057963.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:03.493Z,1629057963.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:03.494Z,1629057963.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:03.861Z,1629057963.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,0039E,186,80,80,6D,FF
2021-08-15T20:06:03.861Z,1629057963.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:03.861Z,1629057963.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:03.863Z,1629057963.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:04.279Z,1629057964.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:04.681Z,1629057964.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,003A7,185,80,80,78,FF
2021-08-15T20:06:04.681Z,1629057964.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:04.726Z,1629057964.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:05.093Z,1629057965.093 [Micromodem](INFO): Nmea in: $SNTTA,0.036617,0.435473,,,200605.06*5E

2021-08-15T20:06:05.391Z,1629057965.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 109.192131 deg, deltaT: 4.123582 s, approachRate: 0.130954 m/s, LOS rate: -4.665164 deg/s, posRepo size: 4
2021-08-15T20:06:07.306Z,1629057967.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:07.657Z,1629057967.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:07.658Z,1629057967.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:07.658Z,1629057967.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:07.659Z,1629057967.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:08.057Z,1629057968.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,003A7,185,80,80,78,FF
2021-08-15T20:06:08.057Z,1629057968.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:08.057Z,1629057968.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:08.059Z,1629057968.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:08.497Z,1629057968.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:08.903Z,1629057968.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,003B3,186,80,80,83,FF
2021-08-15T20:06:08.924Z,1629057968.924 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:08.953Z,1629057968.953 [Micromodem](INFO): Nmea in: $SNTTA,0.030116,0.336297,,,200609.26*58

2021-08-15T20:06:09.024Z,1629057969.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:09.608Z,1629057969.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 99.625973 deg, deltaT: 4.298808 s, approachRate: 0.167489 m/s, LOS rate: -2.225305 deg/s, posRepo size: 4
2021-08-15T20:06:11.687Z,1629057971.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:11.893Z,1629057971.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:11.893Z,1629057971.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:11.893Z,1629057971.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:11.894Z,1629057971.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:12.290Z,1629057972.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,003B3,186,80,80,83,FF
2021-08-15T20:06:12.290Z,1629057972.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:12.290Z,1629057972.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:12.345Z,1629057972.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:12.707Z,1629057972.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:13.105Z,1629057973.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,003A6,186,80,80,8C,FF
2021-08-15T20:06:13.105Z,1629057973.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:13.145Z,1629057973.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:13.537Z,1629057973.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200613.55*58

2021-08-15T20:06:13.584Z,1629057973.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 121.543408 deg, deltaT: 4.120340 s, approachRate: -0.189304 m/s, LOS rate: 5.319327 deg/s, posRepo size: 4
2021-08-15T20:06:15.777Z,1629057975.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:15.981Z,1629057975.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:15.981Z,1629057975.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:15.981Z,1629057975.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:15.982Z,1629057975.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:16.378Z,1629057976.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,003A6,186,80,80,8C,FF
2021-08-15T20:06:16.378Z,1629057976.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:16.378Z,1629057976.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:16.379Z,1629057976.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:16.803Z,1629057976.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:17.193Z,1629057977.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00393,186,80,80,9A,FF
2021-08-15T20:06:17.193Z,1629057977.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:17.197Z,1629057977.197 [Micromodem](INFO): Nmea in: $SNTTA,0.175651,0.175538,,,200617.58*5D

2021-08-15T20:06:17.306Z,1629057977.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:17.866Z,1629057977.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 119.954924 deg, deltaT: 4.160937 s, approachRate: -0.273977 m/s, LOS rate: -0.381761 deg/s, posRepo size: 4
2021-08-15T20:06:20.162Z,1629057980.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:20.553Z,1629057980.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:20.553Z,1629057980.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:20.554Z,1629057980.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:20.555Z,1629057980.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:20.969Z,1629057980.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00393,186,80,80,9A,FF
2021-08-15T20:06:20.969Z,1629057980.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:20.969Z,1629057980.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:20.971Z,1629057980.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:21.357Z,1629057981.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:21.761Z,1629057981.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,0039F,187,80,80,60,FF
2021-08-15T20:06:21.761Z,1629057981.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:22.033Z,1629057982.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:22.241Z,1629057982.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200622.17*5C

2021-08-15T20:06:22.266Z,1629057982.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.120001 m, bearing: 86.060001 deg, deltaT: 4.727614 s, approachRate: 0.152297 m/s, LOS rate: -7.169562 deg/s, posRepo size: 4
2021-08-15T20:06:24.817Z,1629057984.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:25.175Z,1629057985.175 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:25.175Z,1629057985.175 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:25.175Z,1629057985.175 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:25.176Z,1629057985.176 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:25.589Z,1629057985.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,0039F,187,80,80,60,FF
2021-08-15T20:06:25.589Z,1629057985.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:25.589Z,1629057985.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:25.591Z,1629057985.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:25.996Z,1629057985.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:26.393Z,1629057986.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,003A9,187,80,80,37,FF
2021-08-15T20:06:26.394Z,1629057986.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:26.484Z,1629057986.484 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:26.920Z,1629057986.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 88.629252 deg, deltaT: 4.450494 s, approachRate: 0.134816 m/s, LOS rate: 0.577296 deg/s, posRepo size: 4
2021-08-15T20:06:27.225Z,1629057987.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200626.85*53

2021-08-15T20:06:28.473Z,1629057988.473 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:06:29.103Z,1629057989.103 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500
2021-08-15T20:06:29.104Z,1629057989.104 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:06:29.186Z,1629057989.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:29.337Z,1629057989.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:29.337Z,1629057989.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:29.337Z,1629057989.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:29.338Z,1629057989.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:29.346Z,1629057989.346 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:06:29.732Z,1629057989.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003A9,187,80,80,37,FF
2021-08-15T20:06:29.733Z,1629057989.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:29.733Z,1629057989.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:29.734Z,1629057989.734 [Micromodem](INFO): Nmea in: $CADRQ,200630,1,10,0,64,1*71

2021-08-15T20:06:29.735Z,1629057989.735 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A19611E0000005D00000400260000000000000000151D80030C5669C08C79986647C77AAEC8820DCEB9B602A16F83A18C385C34AA5CFCD0F61500*3D

2021-08-15T20:06:30.134Z,1629057990.134 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T20:06:30.134Z,1629057990.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:30.754Z,1629057990.754 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T20:06:30.754Z,1629057990.754 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T20:06:31.966Z,1629057991.966 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T20:06:31.966Z,1629057991.966 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T20:06:31.983Z,1629057991.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:32.379Z,1629057992.379 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,200630.956256,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-15T20:06:32.379Z,1629057992.379 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,200630.956256,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-15T20:06:33.598Z,1629057993.598 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T20:06:33.599Z,1629057993.599 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T181729/Courier0030.lzma.parts
2021-08-15T20:06:33.600Z,1629057993.600 [Micromodem](INFO): Packets left to send: 0
2021-08-15T20:06:34.001Z,1629057994.001 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815200633.783608,06,28950,44,0094,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,17.9,2.12,05,0.88,-01,0.21,46,14500,4000*49

2021-08-15T20:06:34.002Z,1629057994.002 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815200633.783608,06,28950,44,0094,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,17.9,2.12,05,0.88,-01,0.21,46,14500,4000*49

2021-08-15T20:06:34.270Z,1629057994.270 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T20:06:34.270Z,1629057994.270 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T20:06:34.270Z,1629057994.270 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T20:06:34.271Z,1629057994.271 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:06:34.271Z,1629057994.271 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T20:06:35.010Z,1629057995.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:35.680Z,1629057995.680 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.342007
2021-08-15T20:06:37.727Z,1629057997.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:38.093Z,1629057998.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:38.093Z,1629057998.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:38.093Z,1629057998.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:38.094Z,1629057998.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:38.501Z,1629057998.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,003A9,187,80,80,37,FF
2021-08-15T20:06:38.501Z,1629057998.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:38.501Z,1629057998.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:40.546Z,1629058000.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:41.343Z,1629058001.343 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:41.732Z,1629058001.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:42.562Z,1629058002.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200642.54*5D

2021-08-15T20:06:43.364Z,1629058003.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:44.168Z,1629058004.168 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.074011
2021-08-15T20:06:44.962Z,1629058004.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,37,FF
2021-08-15T20:06:44.962Z,1629058004.962 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,37,FF
2021-08-15T20:06:44.962Z,1629058004.962 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:06:46.408Z,1629058006.408 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:46.725Z,1629058006.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:46.725Z,1629058006.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:46.725Z,1629058006.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:46.726Z,1629058006.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:47.117Z,1629058007.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,37,FF
2021-08-15T20:06:47.117Z,1629058007.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:47.117Z,1629058007.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:47.119Z,1629058007.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:47.508Z,1629058007.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:47.913Z,1629058007.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,003A0,187,80,80,60,FF
2021-08-15T20:06:47.914Z,1629058007.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:47.933Z,1629058007.933 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:48.357Z,1629058008.357 [Micromodem](INFO): Nmea in: $SNTTA,0.040490,,,,200648.32*40

2021-08-15T20:06:48.396Z,1629058008.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.179998 m, bearing: 120.993987 deg, deltaT: 21.449021 s, approachRate: -0.025176 m/s, LOS rate: 1.508914 deg/s, posRepo size: 4
2021-08-15T20:06:50.783Z,1629058010.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:51.141Z,1629058011.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:51.141Z,1629058011.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:51.141Z,1629058011.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:51.142Z,1629058011.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:51.553Z,1629058011.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,003A0,187,80,80,60,FF
2021-08-15T20:06:51.554Z,1629058011.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:51.554Z,1629058011.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:51.556Z,1629058011.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:51.956Z,1629058011.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:52.354Z,1629058012.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,00393,187,80,80,34,FF
2021-08-15T20:06:52.354Z,1629058012.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:52.378Z,1629058012.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:52.797Z,1629058012.797 [Micromodem](INFO): Nmea in: $SNTTA,0.060171,,,,200652.76*43

2021-08-15T20:06:52.894Z,1629058012.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 117.523336 deg, deltaT: 4.445098 s, approachRate: -0.175473 m/s, LOS rate: -0.780782 deg/s, posRepo size: 4
2021-08-15T20:06:53.993Z,1629058013.993 [CTD_Seabird](ERROR): Failed to parse device response: 79,4946.65
2021-08-15T20:06:54.906Z,1629058014.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:55.181Z,1629058015.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:55.181Z,1629058015.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:55.181Z,1629058015.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:55.182Z,1629058015.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:06:55.585Z,1629058015.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,00393,187,80,80,34,FF
2021-08-15T20:06:55.585Z,1629058015.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:06:55.585Z,1629058015.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:06:55.587Z,1629058015.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:06:55.992Z,1629058015.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:06:56.396Z,1629058016.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,00383,186,80,80,AD,FF
2021-08-15T20:06:56.397Z,1629058016.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:06:56.469Z,1629058016.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:06:56.874Z,1629058016.874 [Micromodem](INFO): Nmea in: $SNTTA,0.026737,,,,200656.79*4E

2021-08-15T20:06:56.937Z,1629058016.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 89.293057 deg, deltaT: 4.090843 s, approachRate: -0.234671 m/s, LOS rate: -6.900846 deg/s, posRepo size: 4
2021-08-15T20:06:59.290Z,1629058019.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:06:59.629Z,1629058019.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:06:59.629Z,1629058019.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:06:59.629Z,1629058019.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:06:59.630Z,1629058019.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:00.045Z,1629058020.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,00383,186,80,80,AD,FF
2021-08-15T20:07:00.045Z,1629058020.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:00.046Z,1629058020.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:00.052Z,1629058020.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:00.456Z,1629058020.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:00.865Z,1629058020.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,232,000,00381,188,80,80,9F,FF
2021-08-15T20:07:00.866Z,1629058020.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:00.961Z,1629058020.961 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:01.282Z,1629058021.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200701.26*5E

2021-08-15T20:07:01.305Z,1629058021.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 84.046796 deg, deltaT: 4.492167 s, approachRate: -0.026713 m/s, LOS rate: -1.167869 deg/s, posRepo size: 4
2021-08-15T20:07:03.693Z,1629058023.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:04.087Z,1629058024.087 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:04.087Z,1629058024.087 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:04.087Z,1629058024.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:04.087Z,1629058024.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:04.497Z,1629058024.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
232,000,00381,188,80,80,9F,FF
2021-08-15T20:07:04.497Z,1629058024.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:04.498Z,1629058024.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:04.499Z,1629058024.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:04.949Z,1629058024.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:04.961Z,1629058024.961 [Micromodem](INFO): Nmea in: .20.0.39330*78

2021-08-15T20:07:04.961Z,1629058024.961 [Micromodem](ERROR): Response from modem failed NMEA checksum: .20.0.39330*78
 expected 0
2021-08-15T20:07:05.290Z,1629058025.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,0037F,189,80,80,A0,FF
2021-08-15T20:07:05.291Z,1629058025.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:05.295Z,1629058025.295 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T20:07:05.313Z,1629058025.313 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:05.753Z,1629058025.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.199997 m, bearing: 83.529102 deg, deltaT: 4.352381 s, approachRate: -0.027571 m/s, LOS rate: -0.118945 deg/s, posRepo size: 4
2021-08-15T20:07:08.150Z,1629058028.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:08.513Z,1629058028.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:08.513Z,1629058028.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:08.513Z,1629058028.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:08.514Z,1629058028.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:08.933Z,1629058028.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,0037F,189,80,80,A0,FF
2021-08-15T20:07:08.933Z,1629058028.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:08.933Z,1629058028.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:08.935Z,1629058028.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:09.333Z,1629058029.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:09.729Z,1629058029.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,0038E,18A,80,80,78,FF
2021-08-15T20:07:09.730Z,1629058029.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:09.788Z,1629058029.788 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:10.177Z,1629058030.177 [Micromodem](INFO): Nmea in: $SNTTA,0.072808,,,,200710.14*44

2021-08-15T20:07:10.217Z,1629058030.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 82.849764 deg, deltaT: 4.475097 s, approachRate: 0.201114 m/s, LOS rate: -0.151804 deg/s, posRepo size: 4
2021-08-15T20:07:12.580Z,1629058032.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:12.973Z,1629058032.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:12.973Z,1629058032.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:12.974Z,1629058032.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:12.975Z,1629058032.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:13.361Z,1629058033.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,0038E,18A,80,80,78,FF
2021-08-15T20:07:13.361Z,1629058033.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:13.361Z,1629058033.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:13.363Z,1629058033.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:13.781Z,1629058033.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:14.175Z,1629058034.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,0037E,189,80,80,8E,FF
2021-08-15T20:07:14.175Z,1629058034.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:14.194Z,1629058034.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:14.633Z,1629058034.633 [Micromodem](INFO): Nmea in: $SNTTA,0.080468,,,,200714.56*41

2021-08-15T20:07:14.687Z,1629058034.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 80.138084 deg, deltaT: 4.405342 s, approachRate: -0.217918 m/s, LOS rate: -0.615544 deg/s, posRepo size: 4
2021-08-15T20:07:17.077Z,1629058037.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:17.401Z,1629058037.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:17.401Z,1629058037.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:17.401Z,1629058037.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:17.402Z,1629058037.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:17.818Z,1629058037.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,0037E,189,80,80,8E,FF
2021-08-15T20:07:17.818Z,1629058037.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:17.819Z,1629058037.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:17.821Z,1629058037.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:18.209Z,1629058038.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:18.618Z,1629058038.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00388,189,80,80,69,FF
2021-08-15T20:07:18.619Z,1629058038.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:18.701Z,1629058038.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:19.037Z,1629058039.037 [Micromodem](INFO): Nmea in: $SNTTA,0.046986,0.454583,,,200719.02*5F

2021-08-15T20:07:19.085Z,1629058039.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.740000 m, bearing: 79.203372 deg, deltaT: 4.507181 s, approachRate: 0.133121 m/s, LOS rate: -0.207383 deg/s, posRepo size: 4
2021-08-15T20:07:21.498Z,1629058041.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:21.845Z,1629058041.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:21.846Z,1629058041.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:21.846Z,1629058041.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:21.847Z,1629058041.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:22.249Z,1629058042.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00388,189,80,80,69,FF
2021-08-15T20:07:22.249Z,1629058042.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:22.249Z,1629058042.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:22.251Z,1629058042.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:22.667Z,1629058042.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:23.069Z,1629058043.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,0037B,189,80,80,AF,FF
2021-08-15T20:07:23.070Z,1629058043.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:23.157Z,1629058043.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:23.522Z,1629058043.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200723.46*58

2021-08-15T20:07:23.570Z,1629058043.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 74.444916 deg, deltaT: 4.456580 s, approachRate: -0.175022 m/s, LOS rate: -1.067737 deg/s, posRepo size: 4
2021-08-15T20:07:25.924Z,1629058045.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:26.291Z,1629058046.291 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:26.291Z,1629058046.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:26.291Z,1629058046.291 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:26.292Z,1629058046.292 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:26.701Z,1629058046.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,0037B,189,80,80,AF,FF
2021-08-15T20:07:26.701Z,1629058046.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:26.701Z,1629058046.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:26.703Z,1629058046.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:27.127Z,1629058047.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:27.517Z,1629058047.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,0037C,189,80,80,76,FF
2021-08-15T20:07:27.517Z,1629058047.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:27.602Z,1629058047.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:27.966Z,1629058047.966 [Micromodem](INFO): Nmea in: $SNTTA,0.042899,,,,200727.91*46

2021-08-15T20:07:27.988Z,1629058047.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 74.733348 deg, deltaT: 4.444571 s, approachRate: 0.013499 m/s, LOS rate: 0.064895 deg/s, posRepo size: 4
2021-08-15T20:07:30.382Z,1629058050.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:30.749Z,1629058050.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:30.749Z,1629058050.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:30.749Z,1629058050.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:30.750Z,1629058050.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:31.153Z,1629058051.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,0037C,189,80,80,76,FF
2021-08-15T20:07:31.153Z,1629058051.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:31.153Z,1629058051.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:31.155Z,1629058051.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:31.571Z,1629058051.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:31.961Z,1629058051.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,0037C,189,80,80,BF,FF
2021-08-15T20:07:31.961Z,1629058051.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:32.038Z,1629058052.038 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:32.422Z,1629058052.422 [Micromodem](INFO): Nmea in: $SNTTA,0.032711,,,,200732.36*47

2021-08-15T20:07:32.479Z,1629058052.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.019999 m, bearing: 69.392420 deg, deltaT: 4.435923 s, approachRate: 0.000000 m/s, LOS rate: -1.204017 deg/s, posRepo size: 4
2021-08-15T20:07:34.893Z,1629058054.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:35.197Z,1629058055.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:35.197Z,1629058055.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:35.197Z,1629058055.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:35.198Z,1629058055.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:35.597Z,1629058055.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,0037C,189,80,80,BF,FF
2021-08-15T20:07:35.597Z,1629058055.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:35.597Z,1629058055.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:35.599Z,1629058055.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:36.021Z,1629058056.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:36.441Z,1629058056.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,0037A,189,80,80,B1,FF
2021-08-15T20:07:36.442Z,1629058056.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:36.515Z,1629058056.515 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:36.886Z,1629058056.886 [Micromodem](INFO): Nmea in: $SNTTA,0.025509,,,,200736.80*43

2021-08-15T20:07:36.934Z,1629058056.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 68.807100 deg, deltaT: 4.476593 s, approachRate: -0.026806 m/s, LOS rate: -0.130751 deg/s, posRepo size: 4
2021-08-15T20:07:39.308Z,1629058059.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:39.645Z,1629058059.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:39.645Z,1629058059.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:39.645Z,1629058059.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:39.646Z,1629058059.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:40.051Z,1629058060.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
365,000,0037A,189,80,80,B1,FF
2021-08-15T20:07:40.051Z,1629058060.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:40.051Z,1629058060.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:40.053Z,1629058060.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:40.472Z,1629058060.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:40.901Z,1629058060.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0038E,186,80,80,3B,FF
2021-08-15T20:07:40.902Z,1629058060.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:40.905Z,1629058060.905 [Micromodem](INFO): Nmea in: $SNTTA,0.296677,0.297021,,,200741.26*5E

2021-08-15T20:07:40.980Z,1629058060.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:41.314Z,1629058061.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 93.881927 deg, deltaT: 4.465368 s, approachRate: 0.268736 m/s, LOS rate: 5.615400 deg/s, posRepo size: 4
2021-08-15T20:07:43.719Z,1629058063.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:44.085Z,1629058064.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:44.085Z,1629058064.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:44.085Z,1629058064.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:44.086Z,1629058064.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:44.501Z,1629058064.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0038E,186,80,80,3B,FF
2021-08-15T20:07:44.501Z,1629058064.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:44.501Z,1629058064.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:44.503Z,1629058064.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:44.936Z,1629058064.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:45.333Z,1629058065.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,00390,186,80,80,94,FF
2021-08-15T20:07:45.334Z,1629058065.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:45.413Z,1629058065.413 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:45.765Z,1629058065.765 [Micromodem](INFO): Nmea in: $SNTTA,0.034420,,,,200745.71*43

2021-08-15T20:07:45.815Z,1629058065.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 92.584526 deg, deltaT: 4.433930 s, approachRate: 0.027063 m/s, LOS rate: -0.292608 deg/s, posRepo size: 4
2021-08-15T20:07:48.170Z,1629058068.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:48.541Z,1629058068.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:48.541Z,1629058068.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:48.541Z,1629058068.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:48.542Z,1629058068.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:48.949Z,1629058068.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,00390,186,80,80,94,FF
2021-08-15T20:07:48.949Z,1629058068.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:48.949Z,1629058068.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:48.951Z,1629058068.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:49.369Z,1629058069.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:49.761Z,1629058069.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,0038F,18A,80,80,2F,FF
2021-08-15T20:07:49.762Z,1629058069.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:49.832Z,1629058069.832 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:50.200Z,1629058070.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200750.16*59

2021-08-15T20:07:50.219Z,1629058070.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.160000 m, bearing: 77.890480 deg, deltaT: 4.418433 s, approachRate: -0.013579 m/s, LOS rate: -3.325624 deg/s, posRepo size: 4
2021-08-15T20:07:52.618Z,1629058072.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:52.989Z,1629058072.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:52.989Z,1629058072.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:52.989Z,1629058072.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:52.990Z,1629058072.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:53.393Z,1629058073.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,0038F,18A,80,80,2F,FF
2021-08-15T20:07:53.393Z,1629058073.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:53.393Z,1629058073.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:53.395Z,1629058073.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:53.797Z,1629058073.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:54.205Z,1629058074.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,00391,187,80,80,68,FF
2021-08-15T20:07:54.205Z,1629058074.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:54.252Z,1629058074.252 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:54.669Z,1629058074.669 [Micromodem](INFO): Nmea in: $SNTTA,0.066958,,,,200754.60*46

2021-08-15T20:07:54.720Z,1629058074.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 86.607898 deg, deltaT: 4.420098 s, approachRate: 0.027149 m/s, LOS rate: 1.972223 deg/s, posRepo size: 4
2021-08-15T20:07:57.078Z,1629058077.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:07:57.444Z,1629058077.444 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:07:57.444Z,1629058077.444 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:07:57.445Z,1629058077.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:07:57.446Z,1629058077.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:07:57.844Z,1629058077.844 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,00391,187,80,80,68,FF
2021-08-15T20:07:57.844Z,1629058077.844 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:07:57.844Z,1629058077.844 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:07:57.846Z,1629058077.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:07:58.241Z,1629058078.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:07:58.641Z,1629058078.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,00383,189,80,80,99,FF
2021-08-15T20:07:58.642Z,1629058078.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:07:58.737Z,1629058078.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:07:59.061Z,1629058079.061 [Micromodem](INFO): Nmea in: $SNTTA,0.028423,0.442838,,,200759.05*5C

2021-08-15T20:07:59.109Z,1629058079.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 82.361754 deg, deltaT: 4.485593 s, approachRate: -0.187267 m/s, LOS rate: -0.946618 deg/s, posRepo size: 4
2021-08-15T20:08:01.526Z,1629058081.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:01.885Z,1629058081.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:01.885Z,1629058081.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:01.885Z,1629058081.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:01.886Z,1629058081.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:02.286Z,1629058082.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,00383,189,80,80,99,FF
2021-08-15T20:08:02.286Z,1629058082.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:02.286Z,1629058082.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:02.291Z,1629058082.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:02.685Z,1629058082.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:03.085Z,1629058083.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00394,186,80,80,50,FF
2021-08-15T20:08:03.085Z,1629058083.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:03.089Z,1629058083.089 [Micromodem](INFO): Nmea in: $SNTTA,0.049746,0.218486,,,200803.50*5B

2021-08-15T20:08:03.180Z,1629058083.180 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:03.549Z,1629058083.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 90.173920 deg, deltaT: 4.442087 s, approachRate: 0.229622 m/s, LOS rate: 1.758670 deg/s, posRepo size: 4
2021-08-15T20:08:05.948Z,1629058085.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:06.325Z,1629058086.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:06.325Z,1629058086.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:06.325Z,1629058086.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:06.326Z,1629058086.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:06.722Z,1629058086.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00394,186,80,80,50,FF
2021-08-15T20:08:06.723Z,1629058086.723 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:06.723Z,1629058086.723 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:06.725Z,1629058086.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:07.133Z,1629058087.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:07.544Z,1629058087.544 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00397,189,80,80,A7,FF
2021-08-15T20:08:07.545Z,1629058087.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:07.573Z,1629058087.573 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:07.969Z,1629058087.969 [Micromodem](INFO): Nmea in: $SNTTA,0.034348,,,,200807.93*4F

2021-08-15T20:08:07.992Z,1629058087.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 80.270398 deg, deltaT: 4.393253 s, approachRate: 0.040972 m/s, LOS rate: -2.254257 deg/s, posRepo size: 4
2021-08-15T20:08:10.393Z,1629058090.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:10.777Z,1629058090.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:10.778Z,1629058090.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:10.778Z,1629058090.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:10.779Z,1629058090.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:11.170Z,1629058091.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00397,189,80,80,A7,FF
2021-08-15T20:08:11.170Z,1629058091.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:11.170Z,1629058091.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:11.172Z,1629058091.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:11.584Z,1629058091.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:11.974Z,1629058091.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,239,000,00399,189,80,80,79,FF
2021-08-15T20:08:11.974Z,1629058091.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:12.024Z,1629058092.024 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:12.445Z,1629058092.445 [Micromodem](INFO): Nmea in: $SNTTA,0.029808,,,,200812.37*46

2021-08-15T20:08:12.489Z,1629058092.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 86.496518 deg, deltaT: 4.450973 s, approachRate: 0.026961 m/s, LOS rate: 1.398822 deg/s, posRepo size: 4
2021-08-15T20:08:14.920Z,1629058094.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:15.209Z,1629058095.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:15.210Z,1629058095.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:15.210Z,1629058095.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:15.211Z,1629058095.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:15.617Z,1629058095.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
239,000,00399,189,80,80,79,FF
2021-08-15T20:08:15.617Z,1629058095.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:15.617Z,1629058095.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:15.619Z,1629058095.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:16.018Z,1629058096.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:16.449Z,1629058096.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,0038E,188,80,80,7A,FF
2021-08-15T20:08:16.450Z,1629058096.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:16.507Z,1629058096.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:16.883Z,1629058096.883 [Micromodem](INFO): Nmea in: $SNTTA,0.034383,,,,200816.82*48

2021-08-15T20:08:16.919Z,1629058096.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.100002 m, bearing: 82.763349 deg, deltaT: 4.487262 s, approachRate: -0.147082 m/s, LOS rate: -0.831948 deg/s, posRepo size: 4
2021-08-15T20:08:19.265Z,1629058099.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:19.660Z,1629058099.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:19.661Z,1629058099.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:19.661Z,1629058099.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:19.662Z,1629058099.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:20.062Z,1629058100.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,0038E,188,80,80,7A,FF
2021-08-15T20:08:20.062Z,1629058100.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:20.062Z,1629058100.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:20.064Z,1629058100.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:20.511Z,1629058100.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:20.914Z,1629058100.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,0039C,188,80,80,66,FF
2021-08-15T20:08:20.914Z,1629058100.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:20.917Z,1629058100.917 [Micromodem](INFO): Nmea in: $SNTTA,0.033473,0.292839,,,200821.27*59

2021-08-15T20:08:20.991Z,1629058100.991 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:21.324Z,1629058101.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 87.178335 deg, deltaT: 4.479188 s, approachRate: 0.187533 m/s, LOS rate: 0.985667 deg/s, posRepo size: 4
2021-08-15T20:08:23.751Z,1629058103.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:24.093Z,1629058104.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:24.093Z,1629058104.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:24.093Z,1629058104.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:24.094Z,1629058104.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:24.514Z,1629058104.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,0039C,188,80,80,66,FF
2021-08-15T20:08:24.514Z,1629058104.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:24.514Z,1629058104.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:24.517Z,1629058104.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:24.960Z,1629058104.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:25.334Z,1629058105.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,003A3,187,80,80,19,FF
2021-08-15T20:08:25.335Z,1629058105.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:25.405Z,1629058105.405 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:25.765Z,1629058105.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 128.469506 deg, deltaT: 4.414345 s, approachRate: 0.095144 m/s, LOS rate: 9.353861 deg/s, posRepo size: 4
2021-08-15T20:08:28.170Z,1629058108.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:28.553Z,1629058108.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:28.553Z,1629058108.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:28.553Z,1629058108.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:28.554Z,1629058108.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:28.968Z,1629058108.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,003A3,187,80,80,19,FF
2021-08-15T20:08:28.968Z,1629058108.968 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:28.969Z,1629058108.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:28.970Z,1629058108.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:29.369Z,1629058109.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:29.777Z,1629058109.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A2,000,003A4,186,80,80,83,FF
2021-08-15T20:08:29.778Z,1629058109.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:29.807Z,1629058109.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:30.199Z,1629058110.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200830.18*5E

2021-08-15T20:08:30.264Z,1629058110.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 92.319241 deg, deltaT: 4.401898 s, approachRate: 0.013631 m/s, LOS rate: -8.212427 deg/s, posRepo size: 4
2021-08-15T20:08:32.649Z,1629058112.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:33.015Z,1629058113.015 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:33.015Z,1629058113.015 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:33.016Z,1629058113.016 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:33.017Z,1629058113.017 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:33.402Z,1629058113.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A2,000,003A4,186,80,80,83,FF
2021-08-15T20:08:33.402Z,1629058113.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:33.402Z,1629058113.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:33.404Z,1629058113.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:33.812Z,1629058113.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:34.216Z,1629058114.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,00397,185,80,80,68,FF
2021-08-15T20:08:34.216Z,1629058114.216 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:34.235Z,1629058114.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:34.682Z,1629058114.682 [Micromodem](INFO): Nmea in: $SNTTA,0.098275,,,,200834.61*4B

2021-08-15T20:08:34.713Z,1629058114.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 94.091812 deg, deltaT: 4.427817 s, approachRate: -0.176160 m/s, LOS rate: 0.400326 deg/s, posRepo size: 4
2021-08-15T20:08:37.120Z,1629058117.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:37.469Z,1629058117.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:37.469Z,1629058117.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:37.469Z,1629058117.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:37.470Z,1629058117.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:37.849Z,1629058117.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,00397,185,80,80,68,FF
2021-08-15T20:08:37.849Z,1629058117.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:37.849Z,1629058117.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:37.851Z,1629058117.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:38.253Z,1629058118.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:38.661Z,1629058118.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,0039B,187,80,80,B4,FF
2021-08-15T20:08:38.661Z,1629058118.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:38.724Z,1629058118.724 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:39.097Z,1629058119.097 [Micromodem](INFO): Nmea in: $SNTTA,0.030986,,,,200839.06*42

2021-08-15T20:08:39.154Z,1629058119.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 87.208088 deg, deltaT: 4.489430 s, approachRate: 0.053459 m/s, LOS rate: -1.533318 deg/s, posRepo size: 4
2021-08-15T20:08:41.536Z,1629058121.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:41.881Z,1629058121.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:41.881Z,1629058121.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:41.881Z,1629058121.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:41.882Z,1629058121.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:42.292Z,1629058122.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,0039B,187,80,80,B4,FF
2021-08-15T20:08:42.292Z,1629058122.292 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:42.292Z,1629058122.292 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:42.295Z,1629058122.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:42.705Z,1629058122.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:43.098Z,1629058123.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F9,000,0039C,186,80,80,9A,FF
2021-08-15T20:08:43.098Z,1629058123.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:43.161Z,1629058123.161 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:43.555Z,1629058123.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 85.677169 deg, deltaT: 4.436804 s, approachRate: 0.013523 m/s, LOS rate: -0.345050 deg/s, posRepo size: 4
2021-08-15T20:08:45.962Z,1629058125.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:46.333Z,1629058126.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:46.333Z,1629058126.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:46.333Z,1629058126.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:46.334Z,1629058126.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:46.737Z,1629058126.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F9,000,0039C,186,80,80,9A,FF
2021-08-15T20:08:46.737Z,1629058126.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:46.737Z,1629058126.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:46.739Z,1629058126.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:47.141Z,1629058127.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:47.545Z,1629058127.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,003AE,186,80,80,70,FF
2021-08-15T20:08:47.545Z,1629058127.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:47.626Z,1629058127.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:47.977Z,1629058127.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200847.94*5A

2021-08-15T20:08:48.008Z,1629058128.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 86.740588 deg, deltaT: 4.464904 s, approachRate: 0.241887 m/s, LOS rate: 0.238173 deg/s, posRepo size: 4
2021-08-15T20:08:50.415Z,1629058130.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:50.777Z,1629058130.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:50.777Z,1629058130.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:50.777Z,1629058130.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:50.778Z,1629058130.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:51.177Z,1629058131.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,003AE,186,80,80,70,FF
2021-08-15T20:08:51.177Z,1629058131.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:51.177Z,1629058131.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:51.179Z,1629058131.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:51.600Z,1629058131.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:51.985Z,1629058131.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,003B1,186,80,80,84,FF
2021-08-15T20:08:51.985Z,1629058131.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:52.034Z,1629058132.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:52.453Z,1629058132.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200852.38*58

2021-08-15T20:08:52.510Z,1629058132.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 88.698066 deg, deltaT: 4.407605 s, approachRate: 0.040838 m/s, LOS rate: 0.444114 deg/s, posRepo size: 4
2021-08-15T20:08:54.910Z,1629058134.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:55.217Z,1629058135.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:55.217Z,1629058135.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:55.217Z,1629058135.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:55.218Z,1629058135.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:08:55.625Z,1629058135.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,003B1,186,80,80,84,FF
2021-08-15T20:08:55.625Z,1629058135.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:08:55.625Z,1629058135.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:08:55.627Z,1629058135.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:08:56.025Z,1629058136.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:08:56.461Z,1629058136.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,003B4,186,80,80,30,FF
2021-08-15T20:08:56.462Z,1629058136.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:08:56.491Z,1629058136.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:08:56.897Z,1629058136.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200856.83*5C

2021-08-15T20:08:56.940Z,1629058136.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 83.918655 deg, deltaT: 4.457531 s, approachRate: 0.040381 m/s, LOS rate: -1.072210 deg/s, posRepo size: 4
2021-08-15T20:08:59.293Z,1629058139.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:08:59.693Z,1629058139.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:08:59.693Z,1629058139.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:08:59.693Z,1629058139.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:08:59.694Z,1629058139.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:00.069Z,1629058140.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,003B4,186,80,80,30,FF
2021-08-15T20:09:00.069Z,1629058140.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:00.069Z,1629058140.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:00.071Z,1629058140.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:00.492Z,1629058140.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:01.310Z,1629058141.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200901.27*51

2021-08-15T20:09:02.117Z,1629058142.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:03.701Z,1629058143.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,08BFF,189,80,80,34,FF
2021-08-15T20:09:03.701Z,1629058143.701 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:03.776Z,1629058143.776 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:04.148Z,1629058144.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2112.840088 m, bearing: 78.194458 deg, deltaT: 7.285076 s, approachRate: 287.362854 m/s, LOS rate: -0.785743 deg/s, posRepo size: 4
2021-08-15T20:09:04.148Z,1629058144.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2112.84 m. Resuming terminal guidance.
2021-08-15T20:09:04.149Z,1629058144.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T20:09:04.542Z,1629058144.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:09:04.542Z,1629058144.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:09:04.542Z,1629058144.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:09:04.543Z,1629058144.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:09:04.543Z,1629058144.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:09:04.543Z,1629058144.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T20:09:04.570Z,1629058144.570 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T20:09:04.571Z,1629058144.571 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T20:09:04.993Z,1629058144.993 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:09:04.993Z,1629058144.993 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:09:04.993Z,1629058144.993 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:09:04.993Z,1629058144.993 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:09:06.566Z,1629058146.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:06.937Z,1629058146.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:06.937Z,1629058146.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:06.937Z,1629058146.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:06.938Z,1629058146.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:07.341Z,1629058147.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,08BFF,189,80,80,34,FF
2021-08-15T20:09:07.341Z,1629058147.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:07.341Z,1629058147.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:07.343Z,1629058147.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:07.749Z,1629058147.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:08.145Z,1629058148.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF8,000,003BC,18A,80,80,3E,FF
2021-08-15T20:09:08.146Z,1629058148.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:08.617Z,1629058148.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 144.746229 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T20:09:08.617Z,1629058148.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 19.86 m.
2021-08-15T20:09:08.618Z,1629058148.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 144.746229deg and heading rate command to 0 deg/s.
2021-08-15T20:09:08.997Z,1629058148.997 [PowerOnly](INFO): Powering up loadControl
2021-08-15T20:09:09.052Z,1629058149.052 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:09:09.053Z,1629058149.053 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:09:09.054Z,1629058149.054 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:09:09.057Z,1629058149.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:09:09.057Z,1629058149.057 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:09:09.058Z,1629058149.058 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:09:09.463Z,1629058149.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:09:09.463Z,1629058149.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:09:09.463Z,1629058149.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:09:09.463Z,1629058149.463 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:09:10.675Z,1629058150.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:11.017Z,1629058151.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:11.017Z,1629058151.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:11.017Z,1629058151.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:11.018Z,1629058151.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:11.381Z,1629058151.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF8,000,003BC,18A,80,80,3E,FF
2021-08-15T20:09:11.381Z,1629058151.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:11.381Z,1629058151.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:11.383Z,1629058151.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:11.796Z,1629058151.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:12.608Z,1629058152.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200912.59*5A

2021-08-15T20:09:13.504Z,1629058153.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:15.026Z,1629058155.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,3E,FF
2021-08-15T20:09:15.027Z,1629058155.027 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,3E,FF
2021-08-15T20:09:15.027Z,1629058155.027 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:09:16.260Z,1629058156.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:16.660Z,1629058156.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:16.660Z,1629058156.660 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:16.660Z,1629058156.660 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:16.661Z,1629058156.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:17.037Z,1629058157.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,3E,FF
2021-08-15T20:09:17.037Z,1629058157.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:17.038Z,1629058157.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:17.039Z,1629058157.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:17.512Z,1629058157.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:17.865Z,1629058157.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,003CC,188,80,80,8C,FF
2021-08-15T20:09:17.866Z,1629058157.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:17.886Z,1629058157.886 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:18.305Z,1629058158.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200918.24*5A

2021-08-15T20:09:18.352Z,1629058158.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 86.113625 deg, deltaT: 9.720840 s, approachRate: 0.098757 m/s, LOS rate: -6.031640 deg/s, posRepo size: 2
2021-08-15T20:09:18.353Z,1629058158.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 20.82 m.
2021-08-15T20:09:20.763Z,1629058160.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:21.101Z,1629058161.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:21.101Z,1629058161.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:21.102Z,1629058161.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:21.103Z,1629058161.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:21.498Z,1629058161.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,003CC,188,80,80,8C,FF
2021-08-15T20:09:21.499Z,1629058161.499 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:21.499Z,1629058161.499 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:21.501Z,1629058161.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:21.937Z,1629058161.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:22.306Z,1629058162.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,429,000,003FB,189,80,80,4D,FF
2021-08-15T20:09:22.307Z,1629058162.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:22.339Z,1629058162.339 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:22.736Z,1629058162.736 [Micromodem](INFO): Nmea in: $SNTTA,0.028701,,,,200922.74*44

2021-08-15T20:09:22.779Z,1629058162.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 76.415234 deg, deltaT: 4.474155 s, approachRate: 0.630286 m/s, LOS rate: -2.167647 deg/s, posRepo size: 3
2021-08-15T20:09:22.779Z,1629058162.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 23.64 m.
2021-08-15T20:09:22.784Z,1629058162.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 23.64 m.
2021-08-15T20:09:22.784Z,1629058162.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T20:09:25.174Z,1629058165.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:25.537Z,1629058165.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:25.537Z,1629058165.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:25.537Z,1629058165.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:25.538Z,1629058165.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:25.937Z,1629058165.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
429,000,003FB,189,80,80,4D,FF
2021-08-15T20:09:25.937Z,1629058165.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:25.937Z,1629058165.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:25.939Z,1629058165.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:26.358Z,1629058166.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:26.761Z,1629058166.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,0040D,189,80,80,7D,FF
2021-08-15T20:09:26.761Z,1629058166.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:26.791Z,1629058166.792 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:27.202Z,1629058167.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200927.15*54

2021-08-15T20:09:27.269Z,1629058167.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.720001 m, bearing: 80.268335 deg, deltaT: 4.432036 s, approachRate: 0.243681 m/s, LOS rate: 0.869375 deg/s, posRepo size: 4
2021-08-15T20:09:29.610Z,1629058169.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:29.977Z,1629058169.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:29.977Z,1629058169.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:29.977Z,1629058169.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:29.978Z,1629058169.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:30.389Z,1629058170.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,0040D,189,80,80,7D,FF
2021-08-15T20:09:30.389Z,1629058170.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:30.390Z,1629058170.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:30.391Z,1629058170.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:30.789Z,1629058170.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:31.193Z,1629058171.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,0042E,189,80,80,90,FF
2021-08-15T20:09:31.193Z,1629058171.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:31.286Z,1629058171.286 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:31.629Z,1629058171.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200931.60*51

2021-08-15T20:09:31.681Z,1629058171.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 76.995206 deg, deltaT: 4.494602 s, approachRate: 0.440529 m/s, LOS rate: -0.728236 deg/s, posRepo size: 4
2021-08-15T20:09:34.035Z,1629058174.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:34.432Z,1629058174.432 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:34.432Z,1629058174.432 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:34.433Z,1629058174.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:34.434Z,1629058174.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:34.836Z,1629058174.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,0042E,189,80,80,90,FF
2021-08-15T20:09:34.837Z,1629058174.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:34.837Z,1629058174.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:34.847Z,1629058174.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:35.241Z,1629058175.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:35.637Z,1629058175.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,00447,186,80,80,56,FF
2021-08-15T20:09:35.638Z,1629058175.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:35.711Z,1629058175.711 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:36.065Z,1629058176.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200936.05*55

2021-08-15T20:09:36.088Z,1629058176.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 76.998847 deg, deltaT: 4.424225 s, approachRate: 0.339042 m/s, LOS rate: 0.000823 deg/s, posRepo size: 4
2021-08-15T20:09:36.088Z,1629058176.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 28.20 m. Rolling out.
2021-08-15T20:09:36.089Z,1629058176.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T20:09:36.493Z,1629058176.493 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T20:09:36.494Z,1629058176.494 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T20:09:37.672Z,1629058177.672 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:09:38.517Z,1629058178.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:38.937Z,1629058178.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:38.937Z,1629058178.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:38.937Z,1629058178.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:38.938Z,1629058178.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:39.282Z,1629058179.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,00447,186,80,80,56,FF
2021-08-15T20:09:39.282Z,1629058179.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:39.282Z,1629058179.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:39.285Z,1629058179.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:39.693Z,1629058179.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:40.077Z,1629058180.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00461,186,80,80,6B,FF
2021-08-15T20:09:40.077Z,1629058180.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:40.123Z,1629058180.123 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:40.521Z,1629058180.521 [Micromodem](INFO): Nmea in: $SNTTA,0.044043,,,,200940.49*45

2021-08-15T20:09:40.573Z,1629058180.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 57.995225 deg, deltaT: 4.413010 s, approachRate: 0.353501 m/s, LOS rate: -4.306272 deg/s, posRepo size: 4
2021-08-15T20:09:42.978Z,1629058182.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:43.317Z,1629058183.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:43.317Z,1629058183.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:43.317Z,1629058183.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:43.318Z,1629058183.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:43.717Z,1629058183.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00461,186,80,80,6B,FF
2021-08-15T20:09:43.717Z,1629058183.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:43.717Z,1629058183.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:43.719Z,1629058183.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:44.126Z,1629058184.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:44.521Z,1629058184.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,00462,18A,80,80,8E,FF
2021-08-15T20:09:44.522Z,1629058184.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:44.579Z,1629058184.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:44.965Z,1629058184.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200944.92*5E

2021-08-15T20:09:45.067Z,1629058185.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 15.578705 deg, deltaT: 4.463911 s, approachRate: 0.013441 m/s, LOS rate: -9.502098 deg/s, posRepo size: 4
2021-08-15T20:09:47.367Z,1629058187.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:47.766Z,1629058187.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:47.766Z,1629058187.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:47.766Z,1629058187.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:47.767Z,1629058187.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:48.157Z,1629058188.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B8,000,00462,18A,80,80,8E,FF
2021-08-15T20:09:48.157Z,1629058188.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:48.157Z,1629058188.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:48.159Z,1629058188.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:48.565Z,1629058188.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:48.970Z,1629058188.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A2,000,00468,189,80,80,86,FF
2021-08-15T20:09:48.970Z,1629058188.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:49.030Z,1629058189.030 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:49.413Z,1629058189.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200949.36*5D

2021-08-15T20:09:49.475Z,1629058189.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 13.839135 deg, deltaT: 4.442589 s, approachRate: 0.081034 m/s, LOS rate: -0.391567 deg/s, posRepo size: 4
2021-08-15T20:09:50.758Z,1629058190.758 [CTD_Seabird](ERROR): Failed to parse device response: .42
2021-08-15T20:09:51.853Z,1629058191.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:52.197Z,1629058192.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:52.197Z,1629058192.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:52.197Z,1629058192.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:52.198Z,1629058192.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:52.613Z,1629058192.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A2,000,00468,189,80,80,86,FF
2021-08-15T20:09:52.613Z,1629058192.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:52.613Z,1629058192.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:52.615Z,1629058192.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:53.018Z,1629058193.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:53.435Z,1629058193.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,483,000,0046B,18A,80,80,6A,FF
2021-08-15T20:09:53.437Z,1629058193.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:53.470Z,1629058193.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:53.873Z,1629058193.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200953.82*59

2021-08-15T20:09:53.914Z,1629058193.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 15.348229 deg, deltaT: 4.440169 s, approachRate: 0.040539 m/s, LOS rate: 0.339873 deg/s, posRepo size: 4
2021-08-15T20:09:56.272Z,1629058196.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:09:56.649Z,1629058196.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:09:56.649Z,1629058196.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:09:56.649Z,1629058196.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:09:56.650Z,1629058196.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:09:57.053Z,1629058197.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
483,000,0046B,18A,80,80,6A,FF
2021-08-15T20:09:57.053Z,1629058197.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:09:57.053Z,1629058197.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:09:57.055Z,1629058197.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:09:57.481Z,1629058197.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:09:57.869Z,1629058197.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00478,189,80,80,4D,FF
2021-08-15T20:09:57.869Z,1629058197.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:09:57.889Z,1629058197.889 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:09:58.297Z,1629058198.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,200958.26*5C

2021-08-15T20:09:58.320Z,1629058198.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 9.404406 deg, deltaT: 4.418705 s, approachRate: 0.176522 m/s, LOS rate: -1.345151 deg/s, posRepo size: 4
2021-08-15T20:10:00.713Z,1629058200.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:01.085Z,1629058201.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:01.085Z,1629058201.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:01.085Z,1629058201.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:01.086Z,1629058201.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:01.497Z,1629058201.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00478,189,80,80,4D,FF
2021-08-15T20:10:01.497Z,1629058201.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:01.497Z,1629058201.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:01.499Z,1629058201.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:01.896Z,1629058201.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:02.305Z,1629058202.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00473,18A,80,80,68,FF
2021-08-15T20:10:02.306Z,1629058202.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:02.325Z,1629058202.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:02.741Z,1629058202.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201002.70*58

2021-08-15T20:10:02.796Z,1629058202.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 9.792084 deg, deltaT: 4.435823 s, approachRate: -0.067631 m/s, LOS rate: 0.087397 deg/s, posRepo size: 4
2021-08-15T20:10:05.190Z,1629058205.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:05.553Z,1629058205.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:05.553Z,1629058205.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:05.553Z,1629058205.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:05.554Z,1629058205.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:05.961Z,1629058205.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00473,18A,80,80,68,FF
2021-08-15T20:10:05.961Z,1629058205.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:05.961Z,1629058205.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:05.963Z,1629058205.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:06.369Z,1629058206.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:06.765Z,1629058206.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,00478,184,80,80,7E,FF
2021-08-15T20:10:06.765Z,1629058206.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:06.890Z,1629058206.890 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:07.209Z,1629058207.209 [Micromodem](INFO): Nmea in: $SNTTA,0.048199,,,,201007.17*4F

2021-08-15T20:10:07.281Z,1629058207.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.139997 m, bearing: 78.466572 deg, deltaT: 4.565543 s, approachRate: 0.065709 m/s, LOS rate: 15.041910 deg/s, posRepo size: 4
2021-08-15T20:10:09.629Z,1629058209.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:09.997Z,1629058209.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:09.997Z,1629058209.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:09.997Z,1629058209.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:09.998Z,1629058209.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:10.421Z,1629058210.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,00478,184,80,80,7E,FF
2021-08-15T20:10:10.421Z,1629058210.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:10.422Z,1629058210.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:10.446Z,1629058210.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:10.825Z,1629058210.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:11.217Z,1629058211.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,0047D,185,80,80,3F,FF
2021-08-15T20:10:11.218Z,1629058211.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:11.296Z,1629058211.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:11.635Z,1629058211.635 [Micromodem](INFO): Nmea in: $SNTTA,0.059396,,,,201011.65*40

2021-08-15T20:10:11.694Z,1629058211.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 79.247359 deg, deltaT: 4.405671 s, approachRate: 0.068095 m/s, LOS rate: 0.177223 deg/s, posRepo size: 4
2021-08-15T20:10:14.054Z,1629058214.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:14.469Z,1629058214.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:14.469Z,1629058214.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:14.469Z,1629058214.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:14.470Z,1629058214.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:14.889Z,1629058214.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,0047D,185,80,80,3F,FF
2021-08-15T20:10:14.889Z,1629058214.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:14.889Z,1629058214.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:14.891Z,1629058214.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:15.357Z,1629058215.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:15.757Z,1629058215.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,0047F,184,80,80,6F,FF
2021-08-15T20:10:15.757Z,1629058215.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:15.826Z,1629058215.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:16.177Z,1629058216.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201016.09*53

2021-08-15T20:10:16.219Z,1629058216.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 78.005821 deg, deltaT: 4.529877 s, approachRate: 0.026490 m/s, LOS rate: -0.274077 deg/s, posRepo size: 4
2021-08-15T20:10:18.610Z,1629058218.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:18.989Z,1629058218.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:18.990Z,1629058218.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:18.990Z,1629058218.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:18.991Z,1629058218.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:19.389Z,1629058219.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,0047F,184,80,80,6F,FF
2021-08-15T20:10:19.389Z,1629058219.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:19.389Z,1629058219.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:19.391Z,1629058219.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:19.797Z,1629058219.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:20.197Z,1629058220.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00486,185,80,80,38,FF
2021-08-15T20:10:20.197Z,1629058220.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:20.237Z,1629058220.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:20.645Z,1629058220.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201020.59*53

2021-08-15T20:10:20.683Z,1629058220.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.979998 m, bearing: 79.537642 deg, deltaT: 4.411311 s, approachRate: 0.095210 m/s, LOS rate: 0.347248 deg/s, posRepo size: 4
2021-08-15T20:10:23.069Z,1629058223.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:23.457Z,1629058223.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:23.457Z,1629058223.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:23.457Z,1629058223.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:23.458Z,1629058223.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:23.825Z,1629058223.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00486,185,80,80,38,FF
2021-08-15T20:10:23.825Z,1629058223.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:23.826Z,1629058223.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:23.827Z,1629058223.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:24.256Z,1629058224.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:24.637Z,1629058224.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47B,000,00491,189,80,80,5A,FF
2021-08-15T20:10:24.638Z,1629058224.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:24.726Z,1629058224.726 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:25.093Z,1629058225.093 [Micromodem](INFO): Nmea in: $SNTTA,0.058082,,,,201025.06*45

2021-08-15T20:10:25.157Z,1629058225.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 19.967384 deg, deltaT: 4.488925 s, approachRate: 0.147029 m/s, LOS rate: -13.270496 deg/s, posRepo size: 4
2021-08-15T20:10:27.541Z,1629058227.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:27.869Z,1629058227.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:27.869Z,1629058227.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:27.869Z,1629058227.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:27.870Z,1629058227.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:28.307Z,1629058228.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47B,000,00491,189,80,80,5A,FF
2021-08-15T20:10:28.307Z,1629058228.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:28.308Z,1629058228.308 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:28.309Z,1629058228.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:28.691Z,1629058228.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:29.094Z,1629058229.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00496,186,80,80,52,FF
2021-08-15T20:10:29.094Z,1629058229.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:29.170Z,1629058229.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:29.525Z,1629058229.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201029.52*51

2021-08-15T20:10:29.551Z,1629058229.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 58.730959 deg, deltaT: 4.443870 s, approachRate: 0.067509 m/s, LOS rate: 8.722933 deg/s, posRepo size: 4
2021-08-15T20:10:31.949Z,1629058231.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:32.322Z,1629058232.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:32.322Z,1629058232.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:32.322Z,1629058232.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:32.323Z,1629058232.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:32.725Z,1629058232.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00496,186,80,80,52,FF
2021-08-15T20:10:32.725Z,1629058232.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:32.725Z,1629058232.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:32.727Z,1629058232.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:33.127Z,1629058233.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:33.525Z,1629058233.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,0049B,186,80,80,7E,FF
2021-08-15T20:10:33.526Z,1629058233.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:33.580Z,1629058233.580 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:33.981Z,1629058233.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201033.93*57

2021-08-15T20:10:33.999Z,1629058233.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 53.549667 deg, deltaT: 4.409848 s, approachRate: 0.068029 m/s, LOS rate: -1.174937 deg/s, posRepo size: 4
2021-08-15T20:10:36.406Z,1629058236.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:36.761Z,1629058236.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:36.761Z,1629058236.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:36.761Z,1629058236.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:36.762Z,1629058236.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:37.161Z,1629058237.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,0049B,186,80,80,7E,FF
2021-08-15T20:10:37.161Z,1629058237.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:37.161Z,1629058237.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:37.163Z,1629058237.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:37.601Z,1629058237.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:38.013Z,1629058238.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38C,000,00496,189,80,80,67,FF
2021-08-15T20:10:38.014Z,1629058238.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:38.073Z,1629058238.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:38.436Z,1629058238.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201038.37*52

2021-08-15T20:10:38.487Z,1629058238.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 34.991479 deg, deltaT: 4.493189 s, approachRate: -0.066768 m/s, LOS rate: -4.130293 deg/s, posRepo size: 4
2021-08-15T20:10:40.869Z,1629058240.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:41.201Z,1629058241.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:41.201Z,1629058241.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:41.201Z,1629058241.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:41.202Z,1629058241.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:41.617Z,1629058241.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38C,000,00496,189,80,80,67,FF
2021-08-15T20:10:41.617Z,1629058241.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:41.617Z,1629058241.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:41.619Z,1629058241.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:42.021Z,1629058242.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:42.428Z,1629058242.428 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,00498,189,80,80,98,FF
2021-08-15T20:10:42.429Z,1629058242.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:42.516Z,1629058242.516 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:42.869Z,1629058242.869 [Micromodem](INFO): Nmea in: $SNTTA,0.064797,,,,201042.82*44

2021-08-15T20:10:42.955Z,1629058242.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.060001 m, bearing: 37.094255 deg, deltaT: 4.443224 s, approachRate: 0.027008 m/s, LOS rate: 0.473255 deg/s, posRepo size: 4
2021-08-15T20:10:45.310Z,1629058245.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:45.649Z,1629058245.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:45.649Z,1629058245.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:45.649Z,1629058245.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:45.650Z,1629058245.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:46.053Z,1629058246.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,00498,189,80,80,98,FF
2021-08-15T20:10:46.053Z,1629058246.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:46.054Z,1629058246.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:46.055Z,1629058246.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:46.497Z,1629058246.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:46.893Z,1629058246.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,0049C,189,80,80,84,FF
2021-08-15T20:10:46.894Z,1629058246.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:46.962Z,1629058246.962 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:47.317Z,1629058247.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201047.26*5A

2021-08-15T20:10:47.345Z,1629058247.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.300003 m, bearing: 40.492339 deg, deltaT: 4.446121 s, approachRate: 0.053980 m/s, LOS rate: 0.764281 deg/s, posRepo size: 4
2021-08-15T20:10:48.938Z,1629058248.938 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:10:49.751Z,1629058249.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:50.101Z,1629058250.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:50.101Z,1629058250.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:50.101Z,1629058250.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:50.102Z,1629058250.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:50.509Z,1629058250.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,0049C,189,80,80,84,FF
2021-08-15T20:10:50.509Z,1629058250.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:50.510Z,1629058250.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:50.511Z,1629058250.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:50.943Z,1629058250.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:51.321Z,1629058251.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,004A3,189,80,80,75,FF
2021-08-15T20:10:51.322Z,1629058251.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:51.369Z,1629058251.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:51.737Z,1629058251.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201051.72*5C

2021-08-15T20:10:51.763Z,1629058251.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 48.293126 deg, deltaT: 4.406908 s, approachRate: 0.095304 m/s, LOS rate: 1.770127 deg/s, posRepo size: 4
2021-08-15T20:10:54.161Z,1629058254.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:54.537Z,1629058254.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:54.537Z,1629058254.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:54.537Z,1629058254.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:54.538Z,1629058254.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:54.941Z,1629058254.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,004A3,189,80,80,75,FF
2021-08-15T20:10:54.941Z,1629058254.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:54.941Z,1629058254.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:54.943Z,1629058254.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:55.366Z,1629058255.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:10:55.753Z,1629058255.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,004A7,189,80,80,98,FF
2021-08-15T20:10:55.754Z,1629058255.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:10:55.843Z,1629058255.843 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:10:56.205Z,1629058256.205 [Micromodem](INFO): Nmea in: $SNTTA,0.072711,,,,201056.15*46

2021-08-15T20:10:56.227Z,1629058256.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 51.994426 deg, deltaT: 4.473446 s, approachRate: 0.053650 m/s, LOS rate: 0.827393 deg/s, posRepo size: 4
2021-08-15T20:10:58.653Z,1629058258.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:10:59.005Z,1629058259.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:10:59.005Z,1629058259.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:10:59.005Z,1629058259.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:10:59.006Z,1629058259.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:10:59.392Z,1629058259.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,004A7,189,80,80,98,FF
2021-08-15T20:10:59.393Z,1629058259.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:10:59.393Z,1629058259.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:10:59.396Z,1629058259.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:10:59.804Z,1629058259.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:00.193Z,1629058260.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,004AD,188,80,80,75,FF
2021-08-15T20:11:00.193Z,1629058260.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:00.237Z,1629058260.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:00.637Z,1629058260.637 [Micromodem](INFO): Nmea in: $SNTTA,0.033367,,,,201100.60*46

2021-08-15T20:11:00.663Z,1629058260.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 52.166622 deg, deltaT: 4.394397 s, approachRate: 0.081923 m/s, LOS rate: 0.039185 deg/s, posRepo size: 4
2021-08-15T20:11:03.068Z,1629058263.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:03.444Z,1629058263.444 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:03.445Z,1629058263.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:03.445Z,1629058263.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:03.447Z,1629058263.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:03.825Z,1629058263.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,004AD,188,80,80,75,FF
2021-08-15T20:11:03.825Z,1629058263.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:03.825Z,1629058263.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:03.827Z,1629058263.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:04.237Z,1629058264.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:04.633Z,1629058264.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F1,000,004B5,186,80,80,96,FF
2021-08-15T20:11:04.634Z,1629058264.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:04.687Z,1629058264.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:05.097Z,1629058265.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201105.03*5A

2021-08-15T20:11:05.161Z,1629058265.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 61.757321 deg, deltaT: 4.454435 s, approachRate: 0.107758 m/s, LOS rate: 2.153068 deg/s, posRepo size: 4
2021-08-15T20:11:07.549Z,1629058267.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:07.877Z,1629058267.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:07.877Z,1629058267.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:07.877Z,1629058267.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:07.878Z,1629058267.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:08.274Z,1629058268.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F1,000,004B5,186,80,80,96,FF
2021-08-15T20:11:08.274Z,1629058268.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:08.274Z,1629058268.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:08.277Z,1629058268.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:08.685Z,1629058268.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:09.081Z,1629058269.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C8,000,004B1,189,80,80,AD,FF
2021-08-15T20:11:09.082Z,1629058269.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:09.159Z,1629058269.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:09.533Z,1629058269.533 [Micromodem](INFO): Nmea in: $SNTTA,0.045593,,,,201109.48*49

2021-08-15T20:11:09.559Z,1629058269.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 51.115148 deg, deltaT: 4.467872 s, approachRate: -0.053717 m/s, LOS rate: -2.381933 deg/s, posRepo size: 4
2021-08-15T20:11:11.962Z,1629058271.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:12.353Z,1629058272.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:12.354Z,1629058272.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:12.354Z,1629058272.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:12.355Z,1629058272.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:12.729Z,1629058272.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C8,000,004B1,189,80,80,AD,FF
2021-08-15T20:11:12.729Z,1629058272.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:12.730Z,1629058272.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:12.731Z,1629058272.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:13.136Z,1629058273.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:13.521Z,1629058273.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,004B7,189,80,80,80,FF
2021-08-15T20:11:13.521Z,1629058273.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:13.550Z,1629058273.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:13.961Z,1629058273.961 [Micromodem](INFO): Nmea in: $SNTTA,0.037678,,,,201113.94*40

2021-08-15T20:11:13.996Z,1629058273.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 51.744987 deg, deltaT: 4.390976 s, approachRate: 0.081987 m/s, LOS rate: 0.143439 deg/s, posRepo size: 4
2021-08-15T20:11:16.402Z,1629058276.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:16.757Z,1629058276.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:16.758Z,1629058276.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:16.758Z,1629058276.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:16.759Z,1629058276.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:17.185Z,1629058277.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,004B7,189,80,80,80,FF
2021-08-15T20:11:17.185Z,1629058277.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:17.185Z,1629058277.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:17.187Z,1629058277.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:17.668Z,1629058277.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:18.053Z,1629058278.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,004B9,189,80,80,82,FF
2021-08-15T20:11:18.053Z,1629058278.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:18.073Z,1629058278.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:18.508Z,1629058278.508 [Micromodem](INFO): Nmea in: $SNTTA,0.047929,,,,201118.39*40

2021-08-15T20:11:18.535Z,1629058278.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 50.693924 deg, deltaT: 4.522386 s, approachRate: 0.026534 m/s, LOS rate: -0.232414 deg/s, posRepo size: 4
2021-08-15T20:11:20.970Z,1629058280.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:21.286Z,1629058281.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:21.286Z,1629058281.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:21.286Z,1629058281.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:21.287Z,1629058281.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:21.681Z,1629058281.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,004B9,189,80,80,82,FF
2021-08-15T20:11:21.681Z,1629058281.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:21.682Z,1629058281.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:21.683Z,1629058281.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:22.113Z,1629058282.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:22.505Z,1629058282.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,004C0,189,80,80,75,FF
2021-08-15T20:11:22.506Z,1629058282.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:22.590Z,1629058282.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:22.953Z,1629058282.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201122.89*5D

2021-08-15T20:11:23.016Z,1629058283.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.460003 m, bearing: 55.959713 deg, deltaT: 4.517593 s, approachRate: 0.092970 m/s, LOS rate: 1.165618 deg/s, posRepo size: 4
2021-08-15T20:11:25.471Z,1629058285.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:25.749Z,1629058285.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:25.749Z,1629058285.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:25.750Z,1629058285.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:25.751Z,1629058285.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:26.153Z,1629058286.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,004C0,189,80,80,75,FF
2021-08-15T20:11:26.153Z,1629058286.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:26.153Z,1629058286.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:26.155Z,1629058286.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:26.556Z,1629058286.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:26.949Z,1629058286.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,004C4,189,80,80,70,FF
2021-08-15T20:11:26.949Z,1629058286.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:27.010Z,1629058287.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:27.369Z,1629058287.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201127.36*5C

2021-08-15T20:11:27.404Z,1629058287.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 44.333610 deg, deltaT: 4.420007 s, approachRate: 0.054297 m/s, LOS rate: -2.630336 deg/s, posRepo size: 4
2021-08-15T20:11:29.845Z,1629058289.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:30.197Z,1629058290.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:30.197Z,1629058290.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:30.197Z,1629058290.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:30.198Z,1629058290.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:30.577Z,1629058290.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,004C4,189,80,80,70,FF
2021-08-15T20:11:30.577Z,1629058290.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:30.577Z,1629058290.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:30.579Z,1629058290.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:30.989Z,1629058290.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:31.385Z,1629058291.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A1,000,004C4,189,80,80,98,FF
2021-08-15T20:11:31.386Z,1629058291.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:31.465Z,1629058291.465 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:31.826Z,1629058291.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201131.78*51

2021-08-15T20:11:31.852Z,1629058291.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.699997 m, bearing: 39.597168 deg, deltaT: 4.454508 s, approachRate: 0.000000 m/s, LOS rate: -1.063292 deg/s, posRepo size: 4
2021-08-15T20:11:34.264Z,1629058294.264 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:34.617Z,1629058294.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:34.617Z,1629058294.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:34.617Z,1629058294.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:34.618Z,1629058294.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:35.035Z,1629058295.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A1,000,004C4,189,80,80,98,FF
2021-08-15T20:11:35.035Z,1629058295.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:35.035Z,1629058295.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:35.038Z,1629058295.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:35.449Z,1629058295.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:35.838Z,1629058295.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,222,000,004CD,187,80,80,5C,FF
2021-08-15T20:11:35.839Z,1629058295.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:35.896Z,1629058295.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:36.286Z,1629058296.286 [Micromodem](INFO): Nmea in: $SNTTA,0.080871,,,,201136.24*47

2021-08-15T20:11:36.323Z,1629058296.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 58.577533 deg, deltaT: 4.430897 s, approachRate: 0.121872 m/s, LOS rate: 4.283639 deg/s, posRepo size: 4
2021-08-15T20:11:38.758Z,1629058298.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:39.103Z,1629058299.103 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:39.103Z,1629058299.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:39.103Z,1629058299.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:39.104Z,1629058299.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:39.497Z,1629058299.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
222,000,004CD,187,80,80,5C,FF
2021-08-15T20:11:39.497Z,1629058299.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:39.497Z,1629058299.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:39.499Z,1629058299.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:39.882Z,1629058299.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:40.272Z,1629058300.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,004D1,189,80,80,5C,FF
2021-08-15T20:11:40.273Z,1629058300.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:40.298Z,1629058300.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:40.705Z,1629058300.705 [Micromodem](INFO): Nmea in: $SNTTA,0.037983,,,,201140.70*47

2021-08-15T20:11:40.751Z,1629058300.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 52.970279 deg, deltaT: 4.402094 s, approachRate: 0.054520 m/s, LOS rate: -1.273770 deg/s, posRepo size: 4
2021-08-15T20:11:43.169Z,1629058303.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:43.501Z,1629058303.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:43.501Z,1629058303.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:43.501Z,1629058303.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:43.502Z,1629058303.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:43.914Z,1629058303.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,004D1,189,80,80,5C,FF
2021-08-15T20:11:43.914Z,1629058303.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:43.914Z,1629058303.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:43.916Z,1629058303.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:44.329Z,1629058304.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:44.713Z,1629058304.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,004CF,189,80,80,51,FF
2021-08-15T20:11:44.714Z,1629058304.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:44.789Z,1629058304.789 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:45.192Z,1629058305.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 40.984700 deg, deltaT: 4.490899 s, approachRate: -0.026720 m/s, LOS rate: -2.668859 deg/s, posRepo size: 4
2021-08-15T20:11:47.592Z,1629058307.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:47.945Z,1629058307.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:47.945Z,1629058307.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:47.945Z,1629058307.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:47.946Z,1629058307.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:48.354Z,1629058308.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,004CF,189,80,80,51,FF
2021-08-15T20:11:48.354Z,1629058308.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:48.354Z,1629058308.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:48.356Z,1629058308.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:48.761Z,1629058308.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:49.169Z,1629058309.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,004CD,189,80,80,8E,FF
2021-08-15T20:11:49.170Z,1629058309.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:49.173Z,1629058309.173 [Micromodem](INFO): Nmea in: $SNTTA,0.057173,0.185326,,,201149.56*5E

2021-08-15T20:11:49.255Z,1629058309.255 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:49.597Z,1629058309.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 39.540245 deg, deltaT: 4.470910 s, approachRate: -0.026841 m/s, LOS rate: -0.323079 deg/s, posRepo size: 4
2021-08-15T20:11:52.099Z,1629058312.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:52.440Z,1629058312.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:52.440Z,1629058312.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:52.441Z,1629058312.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:52.442Z,1629058312.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:52.817Z,1629058312.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,004CD,189,80,80,8E,FF
2021-08-15T20:11:52.818Z,1629058312.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:52.818Z,1629058312.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:52.824Z,1629058312.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:53.221Z,1629058313.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:53.605Z,1629058313.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,004D8,186,80,80,71,FF
2021-08-15T20:11:53.606Z,1629058313.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:53.635Z,1629058313.635 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:54.033Z,1629058314.033 [Micromodem](INFO): Nmea in: $SNTTA,0.032639,,,,201154.03*4D

2021-08-15T20:11:54.060Z,1629058314.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.900002 m, bearing: 64.744244 deg, deltaT: 4.375061 s, approachRate: 0.150856 m/s, LOS rate: 5.760834 deg/s, posRepo size: 4
2021-08-15T20:11:56.498Z,1629058316.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:11:56.864Z,1629058316.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:11:56.865Z,1629058316.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:11:56.866Z,1629058316.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:11:56.867Z,1629058316.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:11:57.237Z,1629058317.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,004D8,186,80,80,71,FF
2021-08-15T20:11:57.237Z,1629058317.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:11:57.237Z,1629058317.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:11:57.239Z,1629058317.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:11:57.649Z,1629058317.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:11:58.053Z,1629058318.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,004DD,186,80,80,21,FF
2021-08-15T20:11:58.054Z,1629058318.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:11:58.098Z,1629058318.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:11:58.502Z,1629058318.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201158.45*50

2021-08-15T20:11:58.528Z,1629058318.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 70.317446 deg, deltaT: 4.463006 s, approachRate: 0.067219 m/s, LOS rate: 1.248755 deg/s, posRepo size: 4
2021-08-15T20:12:00.968Z,1629058320.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:01.290Z,1629058321.290 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:01.290Z,1629058321.290 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:01.290Z,1629058321.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:01.291Z,1629058321.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:01.689Z,1629058321.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,004DD,186,80,80,21,FF
2021-08-15T20:12:01.689Z,1629058321.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:01.690Z,1629058321.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:01.691Z,1629058321.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:02.101Z,1629058322.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:02.497Z,1629058322.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,003EC,183,80,80,6D,FF
2021-08-15T20:12:02.498Z,1629058322.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:02.552Z,1629058322.552 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:02.949Z,1629058322.949 [Micromodem](INFO): Nmea in: $SNTTA,0.067107,,,,201202.90*4D

2021-08-15T20:12:03.019Z,1629058323.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 86.162222 deg, deltaT: 4.454696 s, approachRate: -3.246013 m/s, LOS rate: 3.556870 deg/s, posRepo size: 4
2021-08-15T20:12:05.410Z,1629058325.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:05.789Z,1629058325.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:05.789Z,1629058325.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:05.789Z,1629058325.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:05.790Z,1629058325.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:06.133Z,1629058326.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,003EC,183,80,80,6D,FF
2021-08-15T20:12:06.133Z,1629058326.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:06.133Z,1629058326.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:06.135Z,1629058326.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:06.545Z,1629058326.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:06.953Z,1629058326.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,414,000,004DA,188,80,80,79,FF
2021-08-15T20:12:06.954Z,1629058326.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:06.957Z,1629058326.957 [Micromodem](INFO): Nmea in: $SNTTA,0.056523,0.253572,,,201207.34*5C

2021-08-15T20:12:07.039Z,1629058327.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:07.371Z,1629058327.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.019997 m, bearing: 34.705824 deg, deltaT: 4.492964 s, approachRate: 3.178302 m/s, LOS rate: -11.452662 deg/s, posRepo size: 4
2021-08-15T20:12:09.826Z,1629058329.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:10.165Z,1629058330.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:10.165Z,1629058330.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:10.165Z,1629058330.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:10.166Z,1629058330.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:10.569Z,1629058330.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
414,000,004DA,188,80,80,79,FF
2021-08-15T20:12:10.569Z,1629058330.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:10.569Z,1629058330.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:10.571Z,1629058330.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:10.982Z,1629058330.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:11.375Z,1629058331.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F1,000,00304,188,80,80,60,FF
2021-08-15T20:12:11.375Z,1629058331.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:11.398Z,1629058331.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:11.813Z,1629058331.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201211.78*50

2021-08-15T20:12:11.850Z,1629058331.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 36.902624 deg, deltaT: 4.352865 s, approachRate: -6.478491 m/s, LOS rate: 0.504679 deg/s, posRepo size: 4
2021-08-15T20:12:14.222Z,1629058334.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:14.609Z,1629058334.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:14.609Z,1629058334.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:14.609Z,1629058334.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:14.610Z,1629058334.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:15.018Z,1629058335.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F1,000,00304,188,80,80,60,FF
2021-08-15T20:12:15.018Z,1629058335.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:15.018Z,1629058335.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:15.020Z,1629058335.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:15.453Z,1629058335.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:15.830Z,1629058335.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,004DD,189,80,80,7F,FF
2021-08-15T20:12:15.830Z,1629058335.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:15.854Z,1629058335.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:16.274Z,1629058336.274 [Micromodem](INFO): Nmea in: $SNTTA,0.034115,,,,201216.23*45

2021-08-15T20:12:16.318Z,1629058336.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 40.694462 deg, deltaT: 4.455566 s, approachRate: 6.369561 m/s, LOS rate: 0.851034 deg/s, posRepo size: 4
2021-08-15T20:12:18.634Z,1629058338.634 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-08-15T20:12:18.705Z,1629058338.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:19.073Z,1629058339.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:19.073Z,1629058339.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:19.073Z,1629058339.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:19.074Z,1629058339.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:19.573Z,1629058339.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,004DD,189,80,80,7F,FF
2021-08-15T20:12:19.573Z,1629058339.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:19.574Z,1629058339.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:19.575Z,1629058339.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:19.893Z,1629058339.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:20.278Z,1629058340.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FE,000,004DE,189,80,80,7A,FF
2021-08-15T20:12:20.278Z,1629058340.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:20.329Z,1629058340.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:20.742Z,1629058340.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 37.167233 deg, deltaT: 4.474771 s, approachRate: 0.013408 m/s, LOS rate: -0.788248 deg/s, posRepo size: 4
2021-08-15T20:12:21.097Z,1629058341.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201220.78*52

2021-08-15T20:12:23.143Z,1629058343.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:23.505Z,1629058343.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:23.505Z,1629058343.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:23.505Z,1629058343.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:23.506Z,1629058343.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:23.913Z,1629058343.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FE,000,004DE,189,80,80,7A,FF
2021-08-15T20:12:23.914Z,1629058343.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:23.914Z,1629058343.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:23.915Z,1629058343.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:24.329Z,1629058344.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:24.725Z,1629058344.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41A,000,004E3,189,80,80,84,FF
2021-08-15T20:12:24.726Z,1629058344.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:24.754Z,1629058344.754 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:25.137Z,1629058345.137 [Micromodem](INFO): Nmea in: $SNTTA,0.047564,0.365229,,,201225.12*56

2021-08-15T20:12:25.174Z,1629058345.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.559998 m, bearing: 36.222494 deg, deltaT: 4.425884 s, approachRate: 0.067783 m/s, LOS rate: -0.213457 deg/s, posRepo size: 4
2021-08-15T20:12:27.568Z,1629058347.568 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:27.950Z,1629058347.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:27.950Z,1629058347.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:27.950Z,1629058347.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:27.951Z,1629058347.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:28.349Z,1629058348.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41A,000,004E3,189,80,80,84,FF
2021-08-15T20:12:28.349Z,1629058348.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:28.350Z,1629058348.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:28.351Z,1629058348.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:28.805Z,1629058348.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:29.189Z,1629058349.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,004E9,186,80,80,7C,FF
2021-08-15T20:12:29.190Z,1629058349.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:29.193Z,1629058349.193 [Micromodem](INFO): Nmea in: $SNTTA,0.044966,0.187443,,,201229.56*53

2021-08-15T20:12:29.283Z,1629058349.283 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:29.652Z,1629058349.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 64.016255 deg, deltaT: 4.528560 s, approachRate: 0.079496 m/s, LOS rate: 6.137439 deg/s, posRepo size: 4
2021-08-15T20:12:32.075Z,1629058352.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:32.521Z,1629058352.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:32.521Z,1629058352.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:32.521Z,1629058352.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:32.522Z,1629058352.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:32.906Z,1629058352.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,004E9,186,80,80,7C,FF
2021-08-15T20:12:32.907Z,1629058352.907 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:32.907Z,1629058352.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:32.910Z,1629058352.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:33.384Z,1629058353.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:33.773Z,1629058353.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47A,000,004EA,189,80,80,77,FF
2021-08-15T20:12:33.774Z,1629058353.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:33.803Z,1629058353.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:34.190Z,1629058354.190 [Micromodem](INFO): Nmea in: $SNTTA,0.064517,,,,201234.12*44

2021-08-15T20:12:34.211Z,1629058354.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.980000 m, bearing: 32.949557 deg, deltaT: 4.519645 s, approachRate: 0.013275 m/s, LOS rate: -6.873703 deg/s, posRepo size: 4
2021-08-15T20:12:36.625Z,1629058356.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:36.997Z,1629058356.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:36.997Z,1629058356.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:36.997Z,1629058356.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:36.998Z,1629058356.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:37.401Z,1629058357.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47A,000,004EA,189,80,80,77,FF
2021-08-15T20:12:37.401Z,1629058357.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:37.401Z,1629058357.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:37.403Z,1629058357.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:37.809Z,1629058357.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:38.209Z,1629058358.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,401,000,004EC,189,80,80,98,FF
2021-08-15T20:12:38.210Z,1629058358.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:38.229Z,1629058358.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:38.645Z,1629058358.645 [Micromodem](INFO): Nmea in: $SNTTA,0.039273,,,,201238.61*41

2021-08-15T20:12:38.682Z,1629058358.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 39.754061 deg, deltaT: 4.425916 s, approachRate: 0.027113 m/s, LOS rate: 1.537423 deg/s, posRepo size: 4
2021-08-15T20:12:41.083Z,1629058361.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:41.472Z,1629058361.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:41.472Z,1629058361.472 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:41.473Z,1629058361.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:41.473Z,1629058361.473 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:41.845Z,1629058361.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
401,000,004EC,189,80,80,98,FF
2021-08-15T20:12:41.845Z,1629058361.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:41.845Z,1629058361.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:41.847Z,1629058361.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:42.253Z,1629058362.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:42.657Z,1629058362.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,004F4,188,80,80,3E,FF
2021-08-15T20:12:42.658Z,1629058362.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:42.707Z,1629058362.707 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:43.069Z,1629058363.069 [Micromodem](INFO): Nmea in: $SNTTA,0.070258,0.438104,,,201243.06*5C

2021-08-15T20:12:43.128Z,1629058363.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 64.212985 deg, deltaT: 4.482941 s, approachRate: 0.107072 m/s, LOS rate: 5.456000 deg/s, posRepo size: 4
2021-08-15T20:12:45.572Z,1629058365.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:45.901Z,1629058365.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:45.901Z,1629058365.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:45.901Z,1629058365.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:45.902Z,1629058365.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:46.369Z,1629058366.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,004F4,188,80,80,3E,FF
2021-08-15T20:12:46.369Z,1629058366.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:46.369Z,1629058366.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:46.371Z,1629058366.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:46.729Z,1629058366.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:47.105Z,1629058367.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,004F8,186,80,80,44,FF
2021-08-15T20:12:47.106Z,1629058367.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:47.197Z,1629058367.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:47.547Z,1629058367.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201247.58*51

2021-08-15T20:12:47.618Z,1629058367.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 76.432426 deg, deltaT: 4.485843 s, approachRate: 0.053502 m/s, LOS rate: 2.724001 deg/s, posRepo size: 4
2021-08-15T20:12:49.950Z,1629058369.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:50.333Z,1629058370.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:50.334Z,1629058370.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:50.334Z,1629058370.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:50.335Z,1629058370.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:50.741Z,1629058370.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,004F8,186,80,80,44,FF
2021-08-15T20:12:50.741Z,1629058370.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:50.742Z,1629058370.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:50.743Z,1629058370.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:51.154Z,1629058371.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:51.557Z,1629058371.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D5,000,004F4,189,80,80,72,FF
2021-08-15T20:12:51.558Z,1629058371.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:51.634Z,1629058371.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:51.994Z,1629058371.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201251.95*57

2021-08-15T20:12:52.015Z,1629058372.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 44.312123 deg, deltaT: 4.436436 s, approachRate: -0.054098 m/s, LOS rate: -7.240114 deg/s, posRepo size: 4
2021-08-15T20:12:54.454Z,1629058374.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:54.843Z,1629058374.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:54.848Z,1629058374.848 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:54.849Z,1629058374.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:54.850Z,1629058374.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:55.197Z,1629058375.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D5,000,004F4,189,80,80,72,FF
2021-08-15T20:12:55.197Z,1629058375.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:55.197Z,1629058375.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:55.199Z,1629058375.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:12:55.611Z,1629058375.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:12:56.001Z,1629058376.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B1,000,004FD,189,80,80,74,FF
2021-08-15T20:12:56.002Z,1629058376.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:12:56.074Z,1629058376.074 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:12:56.457Z,1629058376.457 [Micromodem](INFO): Nmea in: $SNTTA,0.048106,,,,201256.41*4C

2021-08-15T20:12:56.495Z,1629058376.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.119999 m, bearing: 60.025103 deg, deltaT: 4.440021 s, approachRate: 0.121621 m/s, LOS rate: 3.538943 deg/s, posRepo size: 4
2021-08-15T20:12:58.908Z,1629058378.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:12:59.248Z,1629058379.248 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:12:59.249Z,1629058379.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:12:59.249Z,1629058379.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:12:59.250Z,1629058379.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:12:59.729Z,1629058379.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B1,000,004FD,189,80,80,74,FF
2021-08-15T20:12:59.729Z,1629058379.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:12:59.730Z,1629058379.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:12:59.731Z,1629058379.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:00.048Z,1629058380.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:13:00.473Z,1629058380.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A0,000,004FA,189,80,80,75,FF
2021-08-15T20:13:00.474Z,1629058380.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:00.542Z,1629058380.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:00.945Z,1629058380.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.939999 m, bearing: 49.319198 deg, deltaT: 4.468093 s, approachRate: -0.040286 m/s, LOS rate: -2.396079 deg/s, posRepo size: 4
2021-08-15T20:13:01.277Z,1629058381.277 [Micromodem](INFO): Nmea in: $SNTTA,0.044461,,,,201300.94*4E

2021-08-15T20:13:03.309Z,1629058383.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:03.669Z,1629058383.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:03.669Z,1629058383.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:03.669Z,1629058383.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:03.670Z,1629058383.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:04.082Z,1629058384.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A0,000,004FA,189,80,80,75,FF
2021-08-15T20:13:04.082Z,1629058384.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:04.082Z,1629058384.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:04.084Z,1629058384.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:04.493Z,1629058384.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:13:04.929Z,1629058384.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00504,186,80,80,5A,FF
2021-08-15T20:13:04.929Z,1629058384.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:04.932Z,1629058384.932 [Micromodem](INFO): Nmea in: $SNTTA,0.279963,0.280113,,,201305.29*59

2021-08-15T20:13:04.939Z,1629058384.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:13:04.955Z,1629058384.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:05.330Z,1629058385.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 72.149651 deg, deltaT: 4.413545 s, approachRate: 0.135946 m/s, LOS rate: 5.172816 deg/s, posRepo size: 4
2021-08-15T20:13:07.757Z,1629058387.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:08.109Z,1629058388.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:08.109Z,1629058388.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:08.109Z,1629058388.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:08.110Z,1629058388.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:08.526Z,1629058388.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00504,186,80,80,5A,FF
2021-08-15T20:13:08.526Z,1629058388.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:08.527Z,1629058388.527 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:08.528Z,1629058388.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:08.929Z,1629058388.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:13:09.329Z,1629058389.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00502,189,80,80,90,FF
2021-08-15T20:13:09.330Z,1629058389.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:09.395Z,1629058389.395 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:09.761Z,1629058389.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201309.74*54

2021-08-15T20:13:09.809Z,1629058389.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 68.982650 deg, deltaT: 4.440025 s, approachRate: -0.027027 m/s, LOS rate: -0.713285 deg/s, posRepo size: 4
2021-08-15T20:13:12.251Z,1629058392.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:12.662Z,1629058392.662 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:12.662Z,1629058392.662 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:12.662Z,1629058392.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:12.663Z,1629058392.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:12.989Z,1629058392.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00502,189,80,80,90,FF
2021-08-15T20:13:12.989Z,1629058392.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:12.989Z,1629058392.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:12.991Z,1629058392.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:13.401Z,1629058393.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:13:13.781Z,1629058393.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,00502,189,80,80,77,FF
2021-08-15T20:13:13.782Z,1629058393.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:13.902Z,1629058393.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:14.197Z,1629058394.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201314.20*59

2021-08-15T20:13:14.225Z,1629058394.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 61.577010 deg, deltaT: 4.506543 s, approachRate: 0.000000 m/s, LOS rate: -1.643308 deg/s, posRepo size: 4
2021-08-15T20:13:15.008Z,1629058395.008 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T20:13:16.624Z,1629058396.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:17.009Z,1629058397.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:17.010Z,1629058397.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:17.010Z,1629058397.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:17.011Z,1629058397.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:17.409Z,1629058397.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,00502,189,80,80,77,FF
2021-08-15T20:13:17.409Z,1629058397.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:17.410Z,1629058397.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:17.435Z,1629058397.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:17.817Z,1629058397.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:13:18.225Z,1629058398.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,00507,189,80,80,95,FF
2021-08-15T20:13:18.225Z,1629058398.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:18.250Z,1629058398.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:18.663Z,1629058398.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.719997 m, bearing: 61.030718 deg, deltaT: 4.347892 s, approachRate: 0.068999 m/s, LOS rate: -0.125645 deg/s, posRepo size: 4
2021-08-15T20:13:21.087Z,1629058401.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:21.481Z,1629058401.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:21.481Z,1629058401.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:21.481Z,1629058401.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:21.482Z,1629058401.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:21.849Z,1629058401.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,00507,189,80,80,95,FF
2021-08-15T20:13:21.849Z,1629058401.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:21.849Z,1629058401.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:21.851Z,1629058401.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:23.497Z,1629058403.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,0407D,189,80,80,85,FF
2021-08-15T20:13:23.497Z,1629058403.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:13:23.527Z,1629058403.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:13:23.900Z,1629058403.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 953.039978 m, bearing: 64.757870 deg, deltaT: 5.276595 s, approachRate: 173.088898 m/s, LOS rate: 0.706356 deg/s, posRepo size: 4
2021-08-15T20:13:24.309Z,1629058404.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:13:24.309Z,1629058404.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:13:24.310Z,1629058404.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:13:24.310Z,1629058404.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:13:24.310Z,1629058404.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:13:24.310Z,1629058404.310 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:13:24.725Z,1629058404.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:13:24.725Z,1629058404.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:13:24.725Z,1629058404.725 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:13:24.726Z,1629058404.726 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:13:25.176Z,1629058405.176 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T20:13:26.402Z,1629058406.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:26.717Z,1629058406.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:26.717Z,1629058406.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:26.717Z,1629058406.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:26.718Z,1629058406.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:27.117Z,1629058407.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,0407D,189,80,80,85,FF
2021-08-15T20:13:27.117Z,1629058407.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:27.118Z,1629058407.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:29.174Z,1629058409.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:29.933Z,1629058409.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:29.933Z,1629058409.933 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:29.934Z,1629058409.934 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:31.970Z,1629058411.970 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:32.349Z,1629058412.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:32.349Z,1629058412.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:32.349Z,1629058412.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:32.350Z,1629058412.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:32.757Z,1629058412.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:32.757Z,1629058412.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:32.758Z,1629058412.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:33.162Z,1629058413.162 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:34.875Z,1629058414.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:35.597Z,1629058415.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:35.598Z,1629058415.598 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:35.598Z,1629058415.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:37.633Z,1629058417.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:38.017Z,1629058418.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:38.017Z,1629058418.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:38.018Z,1629058418.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:38.019Z,1629058418.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:38.509Z,1629058418.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:38.509Z,1629058418.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:38.509Z,1629058418.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:40.496Z,1629058420.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:41.249Z,1629058421.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:41.249Z,1629058421.249 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:41.249Z,1629058421.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:43.302Z,1629058423.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:43.677Z,1629058423.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:43.677Z,1629058423.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:43.677Z,1629058423.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:43.678Z,1629058423.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:44.069Z,1629058424.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:44.070Z,1629058424.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:44.070Z,1629058424.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:44.486Z,1629058424.486 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:44.933Z,1629058424.933 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T20:13:44.933Z,1629058424.933 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T20:13:44.933Z,1629058424.933 [Micromodem](ERROR): Hardware Fault
2021-08-15T20:13:44.950Z,1629058424.950 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T20:13:44.966Z,1629058424.966 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T20:13:44.966Z,1629058424.966 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T20:13:44.966Z,1629058424.966 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T20:13:44.966Z,1629058424.966 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:13:44.966Z,1629058424.966 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T20:13:45.004Z,1629058425.004 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T20:13:45.314Z,1629058425.314 [Micromodem](INFO): Powering down
2021-08-15T20:13:45.715Z,1629058425.715 [Micromodem](FAULT): LCB 2 fault: LCB Watchdog Reset. Invalid Command. Current Limiter Activated.
2021-08-15T20:13:46.169Z,1629058426.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:46.198Z,1629058426.198 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T20:13:46.198Z,1629058426.198 [Micromodem] No Fault, FailCount= 1
2021-08-15T20:13:46.925Z,1629058426.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:46.925Z,1629058426.925 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:46.926Z,1629058426.926 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:48.950Z,1629058428.950 [Micromodem](INFO): Powering up
2021-08-15T20:13:48.951Z,1629058428.951 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T20:13:48.986Z,1629058428.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:49.353Z,1629058429.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:49.354Z,1629058429.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:49.354Z,1629058429.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:49.355Z,1629058429.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:49.757Z,1629058429.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:49.757Z,1629058429.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:49.758Z,1629058429.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:51.645Z,1629058431.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:52.697Z,1629058432.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:52.698Z,1629058432.698 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:52.698Z,1629058432.698 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:53.025Z,1629058433.025 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T20:13:53.025Z,1629058433.025 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T20:13:53.025Z,1629058433.025 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T20:13:53.093Z,1629058433.093 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T20:13:53.724Z,1629058433.724 [RDI_Pathfinder](INFO): Powering down
2021-08-15T20:13:54.271Z,1629058434.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:54.364Z,1629058434.364 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T20:13:54.364Z,1629058434.364 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T20:13:54.649Z,1629058434.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:13:54.649Z,1629058434.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:13:54.649Z,1629058434.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:13:54.650Z,1629058434.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:13:55.046Z,1629058435.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:55.046Z,1629058435.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:13:55.046Z,1629058435.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:13:55.869Z,1629058435.869 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:13:57.078Z,1629058437.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:13:57.878Z,1629058437.878 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:57.878Z,1629058437.878 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:13:57.879Z,1629058437.879 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:13:57.880Z,1629058437.880 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T20:13:57.235083Z,RTC,RTC*50

2021-08-15T20:13:57.881Z,1629058437.881 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T20:13:57.235083Z,RTC,RTC*50

2021-08-15T20:14:00.166Z,1629058440.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:00.317Z,1629058440.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:00.317Z,1629058440.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:00.317Z,1629058440.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:00.318Z,1629058440.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:00.702Z,1629058440.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:14:00.703Z,1629058440.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:00.704Z,1629058440.704 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:02.748Z,1629058442.748 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:05.705Z,1629058445.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:06.500Z,1629058446.500 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.181861
2021-08-15T20:14:06.902Z,1629058446.902 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:07.315Z,1629058447.315 [Micromodem](INFO): Nmea in: $CAERR,201408,NI  ,12,Unknown command*43

2021-08-15T20:14:07.315Z,1629058447.315 [Micromodem](ERROR): Got error from modem: $CAERR,201408,NI  ,12,Unknown command*43

2021-08-15T20:14:08.533Z,1629058448.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:08.925Z,1629058448.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:08.925Z,1629058448.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:08.925Z,1629058448.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:08.926Z,1629058448.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:09.309Z,1629058449.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:14:09.309Z,1629058449.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:09.309Z,1629058449.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:11.173Z,1629058451.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:13.800Z,1629058453.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:14.972Z,1629058454.972 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.046249
2021-08-15T20:14:16.611Z,1629058456.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:16.980Z,1629058456.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:16.980Z,1629058456.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:16.980Z,1629058456.980 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:16.981Z,1629058456.981 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:17.382Z,1629058457.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,189,80,80,85,FF
2021-08-15T20:14:17.382Z,1629058457.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:17.382Z,1629058457.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:18.238Z,1629058458.238 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:18.660Z,1629058458.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:18.672Z,1629058458.672 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T20:14:19.121Z,1629058459.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,0052A,183,80,80,7C,FF
2021-08-15T20:14:19.121Z,1629058459.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:19.124Z,1629058459.124 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T20:14:19.124Z,1629058459.124 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T20:14:19.541Z,1629058459.541 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T20:14:19.541Z,1629058459.541 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T20:14:19.809Z,1629058459.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 99.095779 deg, deltaT: 55.689585 s, approachRate: -16.362484 m/s, LOS rate: 0.616595 deg/s, posRepo size: 4
2021-08-15T20:14:20.109Z,1629058460.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201419.45*50

2021-08-15T20:14:20.109Z,1629058460.109 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,201419.45*50

2021-08-15T20:14:21.245Z,1629058461.245 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T20:14:21.245Z,1629058461.245 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T20:14:21.634Z,1629058461.634 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T20:14:21.635Z,1629058461.635 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T20:14:22.034Z,1629058462.034 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T20:14:22.034Z,1629058462.034 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T20:14:22.097Z,1629058462.097 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:22.453Z,1629058462.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:22.453Z,1629058462.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:22.453Z,1629058462.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:22.454Z,1629058462.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:22.473Z,1629058462.473 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T20:14:22.473Z,1629058462.473 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T20:14:22.854Z,1629058462.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,0052A,183,80,80,7C,FF
2021-08-15T20:14:22.854Z,1629058462.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:22.854Z,1629058462.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:22.855Z,1629058462.855 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T20:14:22.855Z,1629058462.855 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T20:14:23.246Z,1629058463.246 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T20:14:23.247Z,1629058463.247 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,20,14,24*48

2021-08-15T20:14:23.646Z,1629058463.646 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,20,14,24*7A

2021-08-15T20:14:23.843Z,1629058463.843 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 395A1961210000005D00000400260000000000000000151D80030C5669C08C79983E5D1834AF10158506EF3C201C77446CCE0E7EDFC681959E913C00
2021-08-15T20:14:23.843Z,1629058463.843 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T20:14:24.174Z,1629058464.174 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T20:14:24.175Z,1629058464.175 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T20:14:24.175Z,1629058464.175 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T20:14:24.175Z,1629058464.175 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:14:24.175Z,1629058464.175 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T20:14:24.289Z,1629058464.289 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T20:14:24.291Z,1629058464.291 [Micromodem](INFO): Nmea in: $CADRQ,201424,1,10,0,64,1*77

2021-08-15T20:14:24.296Z,1629058464.296 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961210000005D00000400260000000000000000151D80030C5669C08C79983E5D1834AF10158506EF3C201C77446CCE0E7EDFC681959E913C00*49

2021-08-15T20:14:24.681Z,1629058464.681 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T20:14:25Z*7B

2021-08-15T20:14:24.681Z,1629058464.681 [Micromodem](ERROR): TXD response from modem unexpected: $CATMS,0,2021-08-15T20:14:25Z*7B

2021-08-15T20:14:24.682Z,1629058464.682 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T20:14:25.027227Z,USER_CMD,RTC*1E

2021-08-15T20:14:24.683Z,1629058464.683 [Micromodem](ERROR): TXD response from modem unexpected: $CATMG,2021-08-15T20:14:25.027227Z,USER_CMD,RTC*1E

2021-08-15T20:14:24.786Z,1629058464.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:25.081Z,1629058465.081 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T20:14:25.083Z,1629058465.083 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T20:14:26.310Z,1629058466.310 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T20:14:26.332Z,1629058466.332 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,201425.526435,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*56

2021-08-15T20:14:27.549Z,1629058467.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:28.322Z,1629058468.322 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T20:14:28.327Z,1629058468.327 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815201428.386491,06,32767,45,0104,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,24.2,9.32,19,-6.32,-01,0.01,45,14500,4000*6E

2021-08-15T20:14:28.748Z,1629058468.748 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.293801
2021-08-15T20:14:30.370Z,1629058470.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:30.737Z,1629058470.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:30.737Z,1629058470.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:30.737Z,1629058470.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:30.738Z,1629058470.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:31.148Z,1629058471.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,0052A,183,80,80,7C,FF
2021-08-15T20:14:31.149Z,1629058471.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:31.149Z,1629058471.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:31.151Z,1629058471.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:31.545Z,1629058471.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:31.956Z,1629058471.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00536,183,80,80,4B,FF
2021-08-15T20:14:31.957Z,1629058471.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:32.486Z,1629058472.486 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201432.36*5D

2021-08-15T20:14:32.527Z,1629058472.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 99.969265 deg, deltaT: 12.783441 s, approachRate: 0.056323 m/s, LOS rate: 0.068329 deg/s, posRepo size: 4
2021-08-15T20:14:34.879Z,1629058474.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:35.177Z,1629058475.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:35.177Z,1629058475.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:35.177Z,1629058475.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:35.178Z,1629058475.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:35.581Z,1629058475.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00536,183,80,80,4B,FF
2021-08-15T20:14:35.581Z,1629058475.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:35.581Z,1629058475.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:35.583Z,1629058475.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:36.009Z,1629058476.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:36.393Z,1629058476.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0053B,185,80,80,41,FF
2021-08-15T20:14:36.394Z,1629058476.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:36.900Z,1629058476.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 101.887708 deg, deltaT: 4.472694 s, approachRate: 0.067074 m/s, LOS rate: 0.428923 deg/s, posRepo size: 4
2021-08-15T20:14:39.246Z,1629058479.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:39.621Z,1629058479.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:39.621Z,1629058479.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:39.621Z,1629058479.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:39.622Z,1629058479.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:40.033Z,1629058480.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,0053B,185,80,80,41,FF
2021-08-15T20:14:40.033Z,1629058480.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:40.033Z,1629058480.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:40.035Z,1629058480.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:40.450Z,1629058480.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:40.849Z,1629058480.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,00540,183,80,80,70,FF
2021-08-15T20:14:40.850Z,1629058480.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:41.282Z,1629058481.282 [Micromodem](INFO): Nmea in: $SNTTA,0.078001,,,,201441.24*4A

2021-08-15T20:14:41.310Z,1629058481.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 97.796500 deg, deltaT: 4.449382 s, approachRate: 0.067425 m/s, LOS rate: -0.919500 deg/s, posRepo size: 4
2021-08-15T20:14:43.696Z,1629058483.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:44.065Z,1629058484.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:44.065Z,1629058484.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:44.065Z,1629058484.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:44.066Z,1629058484.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:44.489Z,1629058484.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,00540,183,80,80,70,FF
2021-08-15T20:14:44.489Z,1629058484.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:44.489Z,1629058484.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:44.491Z,1629058484.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:44.881Z,1629058484.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:45.282Z,1629058485.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00542,185,80,80,73,FF
2021-08-15T20:14:45.282Z,1629058485.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:45.793Z,1629058485.793 [Micromodem](INFO): Nmea in: $SNTTA,0.090739,,,,201445.70*45

2021-08-15T20:14:45.823Z,1629058485.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.259998 m, bearing: 97.124252 deg, deltaT: 4.381266 s, approachRate: 0.027389 m/s, LOS rate: -0.153437 deg/s, posRepo size: 4
2021-08-15T20:14:48.141Z,1629058488.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:48.513Z,1629058488.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:48.513Z,1629058488.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:48.513Z,1629058488.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:48.514Z,1629058488.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:48.913Z,1629058488.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00542,185,80,80,73,FF
2021-08-15T20:14:48.913Z,1629058488.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:48.913Z,1629058488.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:48.915Z,1629058488.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:49.329Z,1629058489.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:49.736Z,1629058489.736 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,00548,186,80,80,59,FF
2021-08-15T20:14:49.737Z,1629058489.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:50.169Z,1629058490.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201450.12*5F

2021-08-15T20:14:50.193Z,1629058490.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 108.133683 deg, deltaT: 4.462361 s, approachRate: 0.080674 m/s, LOS rate: 2.467176 deg/s, posRepo size: 4
2021-08-15T20:14:52.581Z,1629058492.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:52.949Z,1629058492.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:52.949Z,1629058492.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:52.950Z,1629058492.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:52.951Z,1629058492.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:53.358Z,1629058493.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,00548,186,80,80,59,FF
2021-08-15T20:14:53.358Z,1629058493.358 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:53.358Z,1629058493.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:53.359Z,1629058493.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:53.774Z,1629058493.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:54.165Z,1629058494.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00544,184,80,80,71,FF
2021-08-15T20:14:54.166Z,1629058494.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:54.593Z,1629058494.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201454.57*5A

2021-08-15T20:14:54.595Z,1629058494.595 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T20:14:54.665Z,1629058494.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 98.825604 deg, deltaT: 4.447624 s, approachRate: -0.053960 m/s, LOS rate: -2.092821 deg/s, posRepo size: 4
2021-08-15T20:14:57.042Z,1629058497.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:14:57.401Z,1629058497.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:14:57.401Z,1629058497.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:14:57.401Z,1629058497.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:14:57.402Z,1629058497.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:14:57.809Z,1629058497.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00544,184,80,80,71,FF
2021-08-15T20:14:57.809Z,1629058497.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:14:57.809Z,1629058497.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:14:57.811Z,1629058497.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:14:58.217Z,1629058498.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:14:58.613Z,1629058498.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00551,184,80,80,8D,FF
2021-08-15T20:14:58.614Z,1629058498.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:14:59.146Z,1629058499.146 [Micromodem](INFO): Nmea in: $SNTTA,,0.416761,,,201459.02*4A

2021-08-15T20:14:59.183Z,1629058499.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 100.518023 deg, deltaT: 4.473416 s, approachRate: 0.174363 m/s, LOS rate: 0.378328 deg/s, posRepo size: 4
2021-08-15T20:15:01.473Z,1629058501.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:01.721Z,1629058501.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:01.721Z,1629058501.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:01.722Z,1629058501.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:01.723Z,1629058501.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:02.077Z,1629058502.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00551,184,80,80,8D,FF
2021-08-15T20:15:02.077Z,1629058502.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:02.078Z,1629058502.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:02.079Z,1629058502.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:02.500Z,1629058502.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:02.877Z,1629058502.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,0054C,185,80,80,82,FF
2021-08-15T20:15:02.878Z,1629058502.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:03.309Z,1629058503.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201503.29*50

2021-08-15T20:15:03.343Z,1629058503.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.859997 m, bearing: 95.773022 deg, deltaT: 4.262073 s, approachRate: -0.070389 m/s, LOS rate: -1.113308 deg/s, posRepo size: 4
2021-08-15T20:15:05.736Z,1629058505.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:06.105Z,1629058506.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:06.105Z,1629058506.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:06.105Z,1629058506.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:06.106Z,1629058506.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:06.513Z,1629058506.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,0054C,185,80,80,82,FF
2021-08-15T20:15:06.513Z,1629058506.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:06.513Z,1629058506.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:06.515Z,1629058506.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:06.925Z,1629058506.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:07.325Z,1629058507.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0054B,184,80,80,77,FF
2021-08-15T20:15:07.325Z,1629058507.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:07.761Z,1629058507.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201507.72*5A

2021-08-15T20:15:07.786Z,1629058507.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.799999 m, bearing: 96.393046 deg, deltaT: 4.433156 s, approachRate: -0.013534 m/s, LOS rate: 0.139861 deg/s, posRepo size: 4
2021-08-15T20:15:10.176Z,1629058510.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:10.549Z,1629058510.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:10.549Z,1629058510.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:10.549Z,1629058510.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:10.550Z,1629058510.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:10.969Z,1629058510.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0054B,184,80,80,77,FF
2021-08-15T20:15:10.969Z,1629058510.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:10.969Z,1629058510.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:10.971Z,1629058510.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:11.357Z,1629058511.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:11.773Z,1629058511.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00553,189,80,80,67,FF
2021-08-15T20:15:11.774Z,1629058511.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:12.209Z,1629058512.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201512.18*52

2021-08-15T20:15:12.254Z,1629058512.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 32.093481 deg, deltaT: 4.420869 s, approachRate: 0.108576 m/s, LOS rate: -14.544553 deg/s, posRepo size: 4
2021-08-15T20:15:14.654Z,1629058514.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:15.009Z,1629058515.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:15.009Z,1629058515.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:15.009Z,1629058515.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:15.010Z,1629058515.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:15.398Z,1629058515.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00553,189,80,80,67,FF
2021-08-15T20:15:15.398Z,1629058515.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:15.398Z,1629058515.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:15.399Z,1629058515.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:15.818Z,1629058515.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:16.205Z,1629058516.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49A,000,00551,189,80,80,78,FF
2021-08-15T20:15:16.206Z,1629058516.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:16.641Z,1629058516.641 [Micromodem](INFO): Nmea in: $SNTTA,0.052662,,,,201516.61*43

2021-08-15T20:15:16.685Z,1629058516.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 36.011312 deg, deltaT: 4.427442 s, approachRate: -0.027103 m/s, LOS rate: 0.884897 deg/s, posRepo size: 4
2021-08-15T20:15:19.088Z,1629058519.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:19.449Z,1629058519.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:19.449Z,1629058519.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:19.449Z,1629058519.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:19.450Z,1629058519.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:19.849Z,1629058519.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49A,000,00551,189,80,80,78,FF
2021-08-15T20:15:19.850Z,1629058519.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:19.850Z,1629058519.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:19.851Z,1629058519.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:20.267Z,1629058520.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:20.653Z,1629058520.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D4,000,0054F,189,80,80,7A,FF
2021-08-15T20:15:20.654Z,1629058520.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:21.077Z,1629058521.077 [Micromodem](INFO): Nmea in: $SNTTA,0.079296,0.398102,,,201521.06*5F

2021-08-15T20:15:21.136Z,1629058521.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 33.015536 deg, deltaT: 4.452970 s, approachRate: -0.026949 m/s, LOS rate: -0.672759 deg/s, posRepo size: 4
2021-08-15T20:15:23.549Z,1629058523.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:23.886Z,1629058523.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:23.886Z,1629058523.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:23.886Z,1629058523.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:23.887Z,1629058523.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:24.286Z,1629058524.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D4,000,0054F,189,80,80,7A,FF
2021-08-15T20:15:24.286Z,1629058524.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:24.286Z,1629058524.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:24.304Z,1629058524.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:24.693Z,1629058524.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:25.097Z,1629058525.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A7,000,00551,18A,80,80,79,FF
2021-08-15T20:15:25.098Z,1629058525.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:25.101Z,1629058525.101 [Micromodem](INFO): Nmea in: $SNTTA,0.046981,0.173338,,,201525.51*54

2021-08-15T20:15:25.538Z,1629058525.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.160000 m, bearing: 34.621348 deg, deltaT: 4.491365 s, approachRate: 0.026719 m/s, LOS rate: 0.357533 deg/s, posRepo size: 4
2021-08-15T20:15:27.961Z,1629058527.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:28.341Z,1629058528.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:28.341Z,1629058528.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:28.341Z,1629058528.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:28.342Z,1629058528.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:28.735Z,1629058528.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A7,000,00551,18A,80,80,79,FF
2021-08-15T20:15:28.736Z,1629058528.736 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:28.736Z,1629058528.736 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:28.738Z,1629058528.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:29.137Z,1629058529.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:29.541Z,1629058529.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,00555,189,80,80,65,FF
2021-08-15T20:15:29.542Z,1629058529.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:29.979Z,1629058529.979 [Micromodem](INFO): Nmea in: $SNTTA,0.044231,,,,201529.95*41

2021-08-15T20:15:30.006Z,1629058530.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 33.687244 deg, deltaT: 4.429157 s, approachRate: 0.054187 m/s, LOS rate: -0.210899 deg/s, posRepo size: 4
2021-08-15T20:15:32.398Z,1629058532.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:32.780Z,1629058532.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:32.781Z,1629058532.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:32.781Z,1629058532.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:32.783Z,1629058532.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:33.173Z,1629058533.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,00555,189,80,80,65,FF
2021-08-15T20:15:33.173Z,1629058533.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:33.174Z,1629058533.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:33.175Z,1629058533.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:33.593Z,1629058533.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:33.982Z,1629058533.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4A0,000,00550,18A,80,80,78,FF
2021-08-15T20:15:33.982Z,1629058533.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:34.428Z,1629058534.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201534.41*5A

2021-08-15T20:15:34.471Z,1629058534.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 33.477875 deg, deltaT: 4.417689 s, approachRate: -0.067909 m/s, LOS rate: -0.047393 deg/s, posRepo size: 4
2021-08-15T20:15:36.889Z,1629058536.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:37.221Z,1629058537.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:37.221Z,1629058537.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:37.221Z,1629058537.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:37.222Z,1629058537.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:37.625Z,1629058537.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4A0,000,00550,18A,80,80,78,FF
2021-08-15T20:15:37.625Z,1629058537.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:37.625Z,1629058537.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:37.627Z,1629058537.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:38.033Z,1629058538.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:38.453Z,1629058538.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EC,000,00555,189,80,80,8F,FF
2021-08-15T20:15:38.454Z,1629058538.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:38.873Z,1629058538.873 [Micromodem](INFO): Nmea in: $SNTTA,0.080135,,,,201538.83*49

2021-08-15T20:15:38.933Z,1629058538.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.400002 m, bearing: 28.371124 deg, deltaT: 4.462025 s, approachRate: 0.067234 m/s, LOS rate: -1.144492 deg/s, posRepo size: 4
2021-08-15T20:15:41.017Z,1629058541.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:41.274Z,1629058541.274 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:41.274Z,1629058541.274 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:41.274Z,1629058541.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:41.274Z,1629058541.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:41.685Z,1629058541.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EC,000,00555,189,80,80,8F,FF
2021-08-15T20:15:41.685Z,1629058541.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:41.685Z,1629058541.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:41.687Z,1629058541.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:42.077Z,1629058542.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:42.486Z,1629058542.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055B,18A,80,80,A7,FF
2021-08-15T20:15:42.486Z,1629058542.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:42.887Z,1629058542.887 [Micromodem](INFO): Nmea in: $SNTTA,0.150939,,,,201542.90*4E

2021-08-15T20:15:42.936Z,1629058542.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 25.985427 deg, deltaT: 4.056768 s, approachRate: 0.088740 m/s, LOS rate: -0.588078 deg/s, posRepo size: 4
2021-08-15T20:15:45.325Z,1629058545.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:45.710Z,1629058545.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:45.710Z,1629058545.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:45.710Z,1629058545.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:45.711Z,1629058545.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:46.101Z,1629058546.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055B,18A,80,80,A7,FF
2021-08-15T20:15:46.101Z,1629058546.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:46.101Z,1629058546.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:46.103Z,1629058546.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:46.511Z,1629058546.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:46.909Z,1629058546.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055B,189,80,80,83,FF
2021-08-15T20:15:46.909Z,1629058546.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:47.362Z,1629058547.362 [Micromodem](INFO): Nmea in: $SNTTA,0.070649,,,,201547.31*4B

2021-08-15T20:15:47.389Z,1629058547.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 24.687295 deg, deltaT: 4.426884 s, approachRate: 0.000000 m/s, LOS rate: -0.293238 deg/s, posRepo size: 4
2021-08-15T20:15:49.803Z,1629058549.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:50.141Z,1629058550.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:50.142Z,1629058550.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:50.142Z,1629058550.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:50.143Z,1629058550.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:50.545Z,1629058550.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055B,189,80,80,83,FF
2021-08-15T20:15:50.545Z,1629058550.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:50.545Z,1629058550.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:50.547Z,1629058550.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:50.961Z,1629058550.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:51.358Z,1629058551.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CF,000,0055D,189,80,80,87,FF
2021-08-15T20:15:51.358Z,1629058551.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:51.808Z,1629058551.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201551.76*5D

2021-08-15T20:15:51.833Z,1629058551.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.879997 m, bearing: 25.558638 deg, deltaT: 4.488064 s, approachRate: 0.026737 m/s, LOS rate: 0.194147 deg/s, posRepo size: 4
2021-08-15T20:15:54.292Z,1629058554.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:54.597Z,1629058554.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:54.598Z,1629058554.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:54.598Z,1629058554.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:54.599Z,1629058554.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:55.045Z,1629058555.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CF,000,0055D,189,80,80,87,FF
2021-08-15T20:15:55.045Z,1629058555.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:55.046Z,1629058555.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:55.047Z,1629058555.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:55.457Z,1629058555.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:15:55.809Z,1629058555.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055E,189,80,80,9A,FF
2021-08-15T20:15:55.810Z,1629058555.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:15:56.252Z,1629058556.252 [Micromodem](INFO): Nmea in: $SNTTA,0.060064,,,,201556.26*45

2021-08-15T20:15:56.308Z,1629058556.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 21.156016 deg, deltaT: 4.373428 s, approachRate: 0.013720 m/s, LOS rate: -1.006675 deg/s, posRepo size: 4
2021-08-15T20:15:58.680Z,1629058558.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:15:59.041Z,1629058559.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:15:59.041Z,1629058559.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:15:59.041Z,1629058559.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:15:59.042Z,1629058559.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:15:59.477Z,1629058559.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055E,189,80,80,9A,FF
2021-08-15T20:15:59.477Z,1629058559.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:15:59.477Z,1629058559.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:15:59.479Z,1629058559.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:15:59.853Z,1629058559.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:00.262Z,1629058560.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0055F,18A,80,80,7E,FF
2021-08-15T20:16:00.263Z,1629058560.263 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:00.683Z,1629058560.683 [Micromodem](INFO): Nmea in: $SNTTA,0.041811,,,,201600.69*47

2021-08-15T20:16:00.732Z,1629058560.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.000000 m, bearing: 19.583462 deg, deltaT: 4.461820 s, approachRate: 0.013447 m/s, LOS rate: -0.352447 deg/s, posRepo size: 4
2021-08-15T20:16:03.131Z,1629058563.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:03.501Z,1629058563.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:03.501Z,1629058563.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:03.501Z,1629058563.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:03.502Z,1629058563.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:03.885Z,1629058563.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0055F,18A,80,80,7E,FF
2021-08-15T20:16:03.885Z,1629058563.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:03.886Z,1629058563.886 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:03.887Z,1629058563.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:04.304Z,1629058564.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:04.693Z,1629058564.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,00563,188,80,80,8F,FF
2021-08-15T20:16:04.694Z,1629058564.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:05.137Z,1629058565.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201605.09*57

2021-08-15T20:16:05.202Z,1629058565.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.240002 m, bearing: 117.421552 deg, deltaT: 4.535078 s, approachRate: 0.052921 m/s, LOS rate: 21.573629 deg/s, posRepo size: 4
2021-08-15T20:16:07.640Z,1629058567.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:07.933Z,1629058567.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:07.933Z,1629058567.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:07.933Z,1629058567.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:07.934Z,1629058567.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:08.345Z,1629058568.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,00563,188,80,80,8F,FF
2021-08-15T20:16:08.345Z,1629058568.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:08.345Z,1629058568.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:08.347Z,1629058568.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:08.804Z,1629058568.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:09.153Z,1629058569.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,00564,189,80,80,9F,FF
2021-08-15T20:16:09.154Z,1629058569.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:09.598Z,1629058569.598 [Micromodem](INFO): Nmea in: $SNTTA,0.043209,,,,201609.55*40

2021-08-15T20:16:09.624Z,1629058569.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 116.082480 deg, deltaT: 4.375269 s, approachRate: 0.013713 m/s, LOS rate: -0.306055 deg/s, posRepo size: 4
2021-08-15T20:16:12.006Z,1629058572.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:12.389Z,1629058572.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:12.389Z,1629058572.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:12.389Z,1629058572.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:12.390Z,1629058572.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:12.833Z,1629058572.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,00564,189,80,80,9F,FF
2021-08-15T20:16:12.833Z,1629058572.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:12.833Z,1629058572.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:12.835Z,1629058572.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:13.251Z,1629058573.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:13.641Z,1629058573.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00569,189,80,80,BA,FF
2021-08-15T20:16:13.642Z,1629058573.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:14.082Z,1629058574.082 [Micromodem](INFO): Nmea in: $SNTTA,,0.076107,,,201614.04*43

2021-08-15T20:16:14.098Z,1629058574.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 113.280019 deg, deltaT: 4.522450 s, approachRate: 0.066336 m/s, LOS rate: -0.619678 deg/s, posRepo size: 4
2021-08-15T20:16:16.517Z,1629058576.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:16.877Z,1629058576.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:16.877Z,1629058576.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:16.877Z,1629058576.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:16.878Z,1629058576.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:17.286Z,1629058577.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,00569,189,80,80,BA,FF
2021-08-15T20:16:17.286Z,1629058577.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:17.286Z,1629058577.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:17.352Z,1629058577.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:17.692Z,1629058577.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:18.085Z,1629058578.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,0056F,18A,80,80,A5,FF
2021-08-15T20:16:18.086Z,1629058578.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:18.581Z,1629058578.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.959999 m, bearing: 114.971563 deg, deltaT: 4.409657 s, approachRate: 0.081639 m/s, LOS rate: 0.383600 deg/s, posRepo size: 4
2021-08-15T20:16:18.905Z,1629058578.905 [Micromodem](INFO): Nmea in: $SNTTA,0.049258,,,,201618.56*4D

2021-08-15T20:16:20.973Z,1629058580.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:21.400Z,1629058581.400 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:21.400Z,1629058581.400 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:21.401Z,1629058581.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:21.402Z,1629058581.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:21.737Z,1629058581.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,0056F,18A,80,80,A5,FF
2021-08-15T20:16:21.738Z,1629058581.738 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:21.738Z,1629058581.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:21.739Z,1629058581.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:22.149Z,1629058582.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:22.545Z,1629058582.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,00570,189,80,80,95,FF
2021-08-15T20:16:22.546Z,1629058582.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:22.965Z,1629058582.965 [Micromodem](INFO): Nmea in: $SNTTA,,0.456602,,,201622.95*4A

2021-08-15T20:16:23.011Z,1629058583.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.019997 m, bearing: 114.788542 deg, deltaT: 4.464432 s, approachRate: 0.013439 m/s, LOS rate: -0.040996 deg/s, posRepo size: 4
2021-08-15T20:16:25.373Z,1629058585.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:25.770Z,1629058585.770 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:25.770Z,1629058585.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:25.770Z,1629058585.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:25.771Z,1629058585.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:26.181Z,1629058586.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,00570,189,80,80,95,FF
2021-08-15T20:16:26.181Z,1629058586.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:26.181Z,1629058586.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:26.182Z,1629058586.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:26.580Z,1629058586.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:26.977Z,1629058586.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00574,189,80,80,AD,FF
2021-08-15T20:16:26.978Z,1629058586.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:27.414Z,1629058587.414 [Micromodem](INFO): Nmea in: $SNTTA,0.049752,,,,201627.39*47

2021-08-15T20:16:27.469Z,1629058587.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 114.136129 deg, deltaT: 4.443001 s, approachRate: 0.054018 m/s, LOS rate: -0.146841 deg/s, posRepo size: 4
2021-08-15T20:16:29.843Z,1629058589.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:30.205Z,1629058590.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:30.205Z,1629058590.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:30.205Z,1629058590.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:30.206Z,1629058590.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:30.614Z,1629058590.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,00574,189,80,80,AD,FF
2021-08-15T20:16:30.614Z,1629058590.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:30.614Z,1629058590.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:30.616Z,1629058590.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:31.020Z,1629058591.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:31.436Z,1629058591.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1E,000,00577,189,80,80,8C,FF
2021-08-15T20:16:31.438Z,1629058591.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:31.853Z,1629058591.853 [Micromodem](INFO): Nmea in: $SNTTA,0.057835,,,,201631.82*41

2021-08-15T20:16:31.895Z,1629058591.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 115.834011 deg, deltaT: 4.455168 s, approachRate: 0.040403 m/s, LOS rate: 0.381104 deg/s, posRepo size: 4
2021-08-15T20:16:34.303Z,1629058594.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:34.726Z,1629058594.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:34.726Z,1629058594.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:34.726Z,1629058594.726 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:34.727Z,1629058594.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:35.089Z,1629058595.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1E,000,00577,189,80,80,8C,FF
2021-08-15T20:16:35.089Z,1629058595.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:35.089Z,1629058595.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:35.091Z,1629058595.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:35.505Z,1629058595.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:35.885Z,1629058595.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,00573,18A,80,80,B4,FF
2021-08-15T20:16:35.885Z,1629058595.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:36.288Z,1629058596.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201636.30*5D

2021-08-15T20:16:36.319Z,1629058596.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 114.393347 deg, deltaT: 4.409191 s, approachRate: -0.054432 m/s, LOS rate: -0.326741 deg/s, posRepo size: 4
2021-08-15T20:16:38.729Z,1629058598.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:39.109Z,1629058599.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:39.109Z,1629058599.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:39.109Z,1629058599.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:39.110Z,1629058599.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:39.505Z,1629058599.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,00573,18A,80,80,B4,FF
2021-08-15T20:16:39.505Z,1629058599.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:39.505Z,1629058599.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:39.507Z,1629058599.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:39.913Z,1629058599.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:40.317Z,1629058600.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1F,000,0057A,189,80,80,9F,FF
2021-08-15T20:16:40.318Z,1629058600.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:40.760Z,1629058600.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201640.72*5A

2021-08-15T20:16:40.835Z,1629058600.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.619999 m, bearing: 115.906712 deg, deltaT: 4.457378 s, approachRate: 0.094226 m/s, LOS rate: 0.339519 deg/s, posRepo size: 4
2021-08-15T20:16:43.179Z,1629058603.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:43.565Z,1629058603.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:43.565Z,1629058603.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:43.565Z,1629058603.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:43.566Z,1629058603.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:43.945Z,1629058603.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1F,000,0057A,189,80,80,9F,FF
2021-08-15T20:16:43.945Z,1629058603.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:43.945Z,1629058603.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:43.947Z,1629058603.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:44.364Z,1629058604.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:45.190Z,1629058605.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201645.16*5D

2021-08-15T20:16:46.005Z,1629058606.005 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:47.274Z,1629058607.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,9F,FF
2021-08-15T20:16:47.274Z,1629058607.274 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,9F,FF
2021-08-15T20:16:47.275Z,1629058607.275 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:16:47.518Z,1629058607.518 [CTD_Seabird](ERROR): Failed to parse device response: 5.77,24.3186,4.801179
2021-08-15T20:16:48.878Z,1629058608.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:49.217Z,1629058609.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:49.217Z,1629058609.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:49.217Z,1629058609.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:49.218Z,1629058609.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:49.601Z,1629058609.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,9F,FF
2021-08-15T20:16:49.601Z,1629058609.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:49.601Z,1629058609.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:49.603Z,1629058609.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:50.047Z,1629058610.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:50.429Z,1629058610.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057F,189,80,80,A5,FF
2021-08-15T20:16:50.431Z,1629058610.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:50.861Z,1629058610.861 [Micromodem](INFO): Nmea in: $SNTTA,0.040964,0.481372,,,201650.81*53

2021-08-15T20:16:50.933Z,1629058610.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 15.251565 deg, deltaT: 10.154733 s, approachRate: 0.029542 m/s, LOS rate: -9.912141 deg/s, posRepo size: 4
2021-08-15T20:16:53.301Z,1629058613.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:53.649Z,1629058613.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:53.649Z,1629058613.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:53.649Z,1629058613.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:53.650Z,1629058613.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:54.070Z,1629058614.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057F,189,80,80,A5,FF
2021-08-15T20:16:54.070Z,1629058614.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:54.071Z,1629058614.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:54.073Z,1629058614.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:54.504Z,1629058614.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:54.874Z,1629058614.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,00583,189,80,80,80,FF
2021-08-15T20:16:54.875Z,1629058614.875 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:55.286Z,1629058615.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201655.28*51

2021-08-15T20:16:55.309Z,1629058615.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 113.522218 deg, deltaT: 4.432262 s, approachRate: 0.054149 m/s, LOS rate: 22.171670 deg/s, posRepo size: 4
2021-08-15T20:16:57.714Z,1629058617.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:16:58.099Z,1629058618.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:16:58.099Z,1629058618.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:16:58.099Z,1629058618.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:16:58.100Z,1629058618.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:16:58.494Z,1629058618.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,00583,189,80,80,80,FF
2021-08-15T20:16:58.494Z,1629058618.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:16:58.495Z,1629058618.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:16:58.496Z,1629058618.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:16:58.909Z,1629058618.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:16:59.370Z,1629058619.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,00582,189,80,80,AD,FF
2021-08-15T20:16:59.370Z,1629058619.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:16:59.718Z,1629058619.718 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T20:16:59.725Z,1629058619.725 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T20:16:59.770Z,1629058619.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201659.71*51

2021-08-15T20:16:59.805Z,1629058619.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 115.214035 deg, deltaT: 4.504658 s, approachRate: -0.013318 m/s, LOS rate: 0.375571 deg/s, posRepo size: 4
2021-08-15T20:17:02.149Z,1629058622.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:02.533Z,1629058622.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:02.533Z,1629058622.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:02.533Z,1629058622.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:02.534Z,1629058622.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:02.946Z,1629058622.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,00582,189,80,80,AD,FF
2021-08-15T20:17:02.946Z,1629058622.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:02.946Z,1629058622.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:02.948Z,1629058622.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:03.341Z,1629058623.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:03.746Z,1629058623.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,00583,18A,80,80,39,FF
2021-08-15T20:17:03.746Z,1629058623.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:04.177Z,1629058624.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201704.16*59

2021-08-15T20:17:04.220Z,1629058624.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 117.712573 deg, deltaT: 4.322223 s, approachRate: 0.013880 m/s, LOS rate: 0.578068 deg/s, posRepo size: 4
2021-08-15T20:17:06.624Z,1629058626.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:06.981Z,1629058626.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:06.981Z,1629058626.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:06.981Z,1629058626.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:06.982Z,1629058626.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:07.377Z,1629058627.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,00583,18A,80,80,39,FF
2021-08-15T20:17:07.377Z,1629058627.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:07.377Z,1629058627.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:07.379Z,1629058627.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:07.785Z,1629058627.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:08.189Z,1629058628.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D13,000,00585,189,80,80,A1,FF
2021-08-15T20:17:08.190Z,1629058628.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:08.621Z,1629058628.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201708.59*5E

2021-08-15T20:17:08.666Z,1629058628.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.280003 m, bearing: 115.196099 deg, deltaT: 4.432183 s, approachRate: 0.027076 m/s, LOS rate: -0.567773 deg/s, posRepo size: 4
2021-08-15T20:17:11.057Z,1629058631.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:11.428Z,1629058631.428 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:11.429Z,1629058631.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:11.429Z,1629058631.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:11.430Z,1629058631.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:11.821Z,1629058631.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D13,000,00585,189,80,80,A1,FF
2021-08-15T20:17:11.822Z,1629058631.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:11.822Z,1629058631.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:11.823Z,1629058631.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:12.236Z,1629058632.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:12.633Z,1629058632.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,00589,189,80,80,9C,FF
2021-08-15T20:17:12.633Z,1629058632.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:13.057Z,1629058633.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201713.03*5B

2021-08-15T20:17:13.102Z,1629058633.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 113.549231 deg, deltaT: 4.483193 s, approachRate: 0.053534 m/s, LOS rate: -0.367343 deg/s, posRepo size: 4
2021-08-15T20:17:15.478Z,1629058635.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:15.858Z,1629058635.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:15.858Z,1629058635.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:15.858Z,1629058635.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:15.859Z,1629058635.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:16.281Z,1629058636.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,00589,189,80,80,9C,FF
2021-08-15T20:17:16.281Z,1629058636.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:16.281Z,1629058636.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:16.284Z,1629058636.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:16.681Z,1629058636.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:17.073Z,1629058637.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00589,189,80,80,8E,FF
2021-08-15T20:17:17.074Z,1629058637.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:17.509Z,1629058637.509 [Micromodem](INFO): Nmea in: $SNTTA,0.057090,,,,201717.49*44

2021-08-15T20:17:17.547Z,1629058637.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.520004 m, bearing: 12.536320 deg, deltaT: 4.464523 s, approachRate: 0.000000 m/s, LOS rate: -22.625690 deg/s, posRepo size: 4
2021-08-15T20:17:19.922Z,1629058639.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:20.309Z,1629058640.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:20.309Z,1629058640.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:20.309Z,1629058640.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:20.310Z,1629058640.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:20.716Z,1629058640.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00589,189,80,80,8E,FF
2021-08-15T20:17:20.717Z,1629058640.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:20.717Z,1629058640.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:20.721Z,1629058640.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:21.116Z,1629058641.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:21.525Z,1629058641.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,0058D,18A,80,80,A6,FF
2021-08-15T20:17:21.526Z,1629058641.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:21.957Z,1629058641.957 [Micromodem](INFO): Nmea in: $SNTTA,0.106492,,,,201721.93*45

2021-08-15T20:17:21.990Z,1629058641.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 114.805371 deg, deltaT: 4.426617 s, approachRate: 0.054215 m/s, LOS rate: 23.103207 deg/s, posRepo size: 4
2021-08-15T20:17:24.388Z,1629058644.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:24.760Z,1629058644.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:24.761Z,1629058644.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:24.762Z,1629058644.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:24.763Z,1629058644.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:25.158Z,1629058645.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,0058D,18A,80,80,A6,FF
2021-08-15T20:17:25.158Z,1629058645.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:25.158Z,1629058645.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:25.159Z,1629058645.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:25.568Z,1629058645.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:25.969Z,1629058645.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0058D,189,80,80,B8,FF
2021-08-15T20:17:25.970Z,1629058645.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:26.425Z,1629058646.425 [Micromodem](INFO): Nmea in: $SNTTA,0.043648,,,,201726.37*49

2021-08-15T20:17:26.483Z,1629058646.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 10.970467 deg, deltaT: 4.451316 s, approachRate: 0.000000 m/s, LOS rate: -23.326788 deg/s, posRepo size: 4
2021-08-15T20:17:28.895Z,1629058648.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:29.201Z,1629058649.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:29.201Z,1629058649.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:29.202Z,1629058649.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:29.203Z,1629058649.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:29.597Z,1629058649.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0058D,189,80,80,B8,FF
2021-08-15T20:17:29.597Z,1629058649.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:29.597Z,1629058649.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:29.599Z,1629058649.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:30.005Z,1629058650.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:30.413Z,1629058650.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00596,189,80,80,56,FF
2021-08-15T20:17:30.414Z,1629058650.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:30.863Z,1629058650.863 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201730.81*50

2021-08-15T20:17:30.929Z,1629058650.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 10.380337 deg, deltaT: 4.455368 s, approachRate: 0.121204 m/s, LOS rate: -0.132454 deg/s, posRepo size: 4
2021-08-15T20:17:33.277Z,1629058653.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:33.637Z,1629058653.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:33.637Z,1629058653.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:33.637Z,1629058653.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:33.638Z,1629058653.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:34.051Z,1629058654.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00596,189,80,80,56,FF
2021-08-15T20:17:34.051Z,1629058654.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:34.051Z,1629058654.051 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:34.053Z,1629058654.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:34.473Z,1629058654.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:34.857Z,1629058654.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00596,18A,80,80,9E,FF
2021-08-15T20:17:34.857Z,1629058654.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:35.289Z,1629058655.289 [Micromodem](INFO): Nmea in: $SNTTA,0.053431,,,,201735.26*46

2021-08-15T20:17:35.323Z,1629058655.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.300003 m, bearing: 9.959657 deg, deltaT: 4.426252 s, approachRate: 0.000000 m/s, LOS rate: -0.095042 deg/s, posRepo size: 4
2021-08-15T20:17:37.713Z,1629058657.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:38.089Z,1629058658.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:38.089Z,1629058658.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:38.089Z,1629058658.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:38.090Z,1629058658.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:38.493Z,1629058658.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00596,18A,80,80,9E,FF
2021-08-15T20:17:38.493Z,1629058658.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:38.493Z,1629058658.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:38.495Z,1629058658.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:38.900Z,1629058658.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:39.305Z,1629058659.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0059C,189,80,80,88,FF
2021-08-15T20:17:39.306Z,1629058659.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:39.733Z,1629058659.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201739.70*57

2021-08-15T20:17:39.775Z,1629058659.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 9.719899 deg, deltaT: 4.443788 s, approachRate: 0.081011 m/s, LOS rate: -0.053954 deg/s, posRepo size: 4
2021-08-15T20:17:42.153Z,1629058662.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:42.533Z,1629058662.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:42.533Z,1629058662.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:42.534Z,1629058662.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:42.535Z,1629058662.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:42.937Z,1629058662.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0059C,189,80,80,88,FF
2021-08-15T20:17:42.937Z,1629058662.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:42.937Z,1629058662.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:42.939Z,1629058662.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:43.345Z,1629058663.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:43.761Z,1629058663.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A0,189,80,80,7E,FF
2021-08-15T20:17:43.762Z,1629058663.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:44.185Z,1629058664.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201744.15*5E

2021-08-15T20:17:44.207Z,1629058664.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 9.496748 deg, deltaT: 4.431806 s, approachRate: 0.054154 m/s, LOS rate: -0.050352 deg/s, posRepo size: 4
2021-08-15T20:17:46.610Z,1629058666.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:46.978Z,1629058666.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:46.978Z,1629058666.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:46.978Z,1629058666.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:46.979Z,1629058666.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:47.377Z,1629058667.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A0,189,80,80,7E,FF
2021-08-15T20:17:47.377Z,1629058667.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:47.377Z,1629058667.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:47.379Z,1629058667.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:47.805Z,1629058667.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:48.182Z,1629058668.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A3,189,80,80,87,FF
2021-08-15T20:17:48.182Z,1629058668.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:48.629Z,1629058668.629 [Micromodem](INFO): Nmea in: $SNTTA,0.060815,,,,201748.59*4E

2021-08-15T20:17:48.665Z,1629058668.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 9.748925 deg, deltaT: 4.429819 s, approachRate: 0.040633 m/s, LOS rate: 0.056927 deg/s, posRepo size: 4
2021-08-15T20:17:51.094Z,1629058671.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:51.416Z,1629058671.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:51.417Z,1629058671.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:51.417Z,1629058671.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:51.418Z,1629058671.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:51.830Z,1629058671.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A3,189,80,80,87,FF
2021-08-15T20:17:51.830Z,1629058671.830 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:51.830Z,1629058671.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:51.833Z,1629058671.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:52.229Z,1629058672.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:52.635Z,1629058672.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A3,189,80,80,71,FF
2021-08-15T20:17:52.636Z,1629058672.636 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:53.061Z,1629058673.061 [Micromodem](INFO): Nmea in: $SNTTA,0.057033,,,,201753.05*45

2021-08-15T20:17:53.107Z,1629058673.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 10.110379 deg, deltaT: 4.502428 s, approachRate: 0.000000 m/s, LOS rate: 0.080280 deg/s, posRepo size: 4
2021-08-15T20:17:55.520Z,1629058675.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:17:55.866Z,1629058675.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:17:55.867Z,1629058675.867 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:17:55.867Z,1629058675.867 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:17:55.868Z,1629058675.868 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:17:56.262Z,1629058676.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A3,189,80,80,71,FF
2021-08-15T20:17:56.262Z,1629058676.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:17:56.262Z,1629058676.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:17:56.265Z,1629058676.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:17:56.721Z,1629058676.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:17:57.105Z,1629058677.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005A5,189,80,80,A1,FF
2021-08-15T20:17:57.106Z,1629058677.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:17:57.109Z,1629058677.109 [Micromodem](INFO): Nmea in: $SNTTA,0.100245,0.192852,,,201757.47*5C

2021-08-15T20:17:57.611Z,1629058677.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 10.196167 deg, deltaT: 4.458596 s, approachRate: 0.026913 m/s, LOS rate: 0.019241 deg/s, posRepo size: 4
2021-08-15T20:17:59.965Z,1629058679.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:00.337Z,1629058680.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:00.337Z,1629058680.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:00.337Z,1629058680.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:00.338Z,1629058680.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:00.761Z,1629058680.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005A5,189,80,80,A1,FF
2021-08-15T20:18:00.761Z,1629058680.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:00.762Z,1629058680.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:00.786Z,1629058680.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:01.286Z,1629058681.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:01.687Z,1629058681.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AC,189,80,80,9B,FF
2021-08-15T20:18:01.687Z,1629058681.687 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:02.093Z,1629058682.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201802.00*57

2021-08-15T20:18:02.132Z,1629058682.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 10.528097 deg, deltaT: 4.538063 s, approachRate: 0.092551 m/s, LOS rate: 0.073144 deg/s, posRepo size: 4
2021-08-15T20:18:04.534Z,1629058684.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:04.921Z,1629058684.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:04.921Z,1629058684.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:04.921Z,1629058684.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:04.922Z,1629058684.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:05.321Z,1629058685.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AC,189,80,80,9B,FF
2021-08-15T20:18:05.321Z,1629058685.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:05.321Z,1629058685.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:05.323Z,1629058685.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:05.754Z,1629058685.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:06.125Z,1629058686.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AD,189,80,80,9A,FF
2021-08-15T20:18:06.126Z,1629058686.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:06.565Z,1629058686.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201806.53*55

2021-08-15T20:18:06.608Z,1629058686.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 10.905257 deg, deltaT: 4.478727 s, approachRate: 0.013397 m/s, LOS rate: 0.084211 deg/s, posRepo size: 4
2021-08-15T20:18:09.027Z,1629058689.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:09.361Z,1629058689.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:09.362Z,1629058689.362 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:09.362Z,1629058689.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:09.363Z,1629058689.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:09.779Z,1629058689.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AD,189,80,80,9A,FF
2021-08-15T20:18:09.779Z,1629058689.779 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:09.779Z,1629058689.779 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:09.784Z,1629058689.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:10.169Z,1629058690.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:10.582Z,1629058690.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005AF,189,80,80,7B,FF
2021-08-15T20:18:10.583Z,1629058690.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:10.998Z,1629058690.998 [Micromodem](INFO): Nmea in: $SNTTA,0.073113,,,,201810.99*4D

2021-08-15T20:18:11.078Z,1629058691.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 11.179919 deg, deltaT: 4.412571 s, approachRate: 0.027197 m/s, LOS rate: 0.062245 deg/s, posRepo size: 4
2021-08-15T20:18:13.454Z,1629058693.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:13.810Z,1629058693.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:13.810Z,1629058693.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:13.810Z,1629058693.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:13.811Z,1629058693.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:14.205Z,1629058694.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005AF,189,80,80,7B,FF
2021-08-15T20:18:14.205Z,1629058694.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:14.205Z,1629058694.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:14.207Z,1629058694.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:14.629Z,1629058694.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:15.025Z,1629058695.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005B1,189,80,80,6C,FF
2021-08-15T20:18:15.026Z,1629058695.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:15.474Z,1629058695.474 [Micromodem](INFO): Nmea in: $SNTTA,0.067366,,,,201815.42*4B

2021-08-15T20:18:15.525Z,1629058695.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 11.282913 deg, deltaT: 4.453320 s, approachRate: 0.026946 m/s, LOS rate: 0.023127 deg/s, posRepo size: 4
2021-08-15T20:18:17.879Z,1629058697.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:18.256Z,1629058698.256 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:18.256Z,1629058698.256 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:18.257Z,1629058698.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:18.258Z,1629058698.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:18.649Z,1629058698.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005B1,189,80,80,6C,FF
2021-08-15T20:18:18.649Z,1629058698.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:18.649Z,1629058698.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:18.651Z,1629058698.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:19.068Z,1629058699.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:19.453Z,1629058699.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005B5,189,80,80,A2,FF
2021-08-15T20:18:19.454Z,1629058699.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:19.912Z,1629058699.912 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201819.86*53

2021-08-15T20:18:19.932Z,1629058699.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 11.129085 deg, deltaT: 4.407873 s, approachRate: 0.054448 m/s, LOS rate: -0.034898 deg/s, posRepo size: 4
2021-08-15T20:18:22.321Z,1629058702.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:22.693Z,1629058702.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:22.693Z,1629058702.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:22.694Z,1629058702.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:22.695Z,1629058702.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:23.101Z,1629058703.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005B5,189,80,80,A2,FF
2021-08-15T20:18:23.101Z,1629058703.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:23.101Z,1629058703.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:23.103Z,1629058703.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:23.511Z,1629058703.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:23.901Z,1629058703.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005BC,189,80,80,60,FF
2021-08-15T20:18:23.902Z,1629058703.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:24.342Z,1629058704.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201824.31*51

2021-08-15T20:18:24.358Z,1629058704.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 11.451621 deg, deltaT: 4.484647 s, approachRate: 0.093652 m/s, LOS rate: 0.071920 deg/s, posRepo size: 4
2021-08-15T20:18:26.821Z,1629058706.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:27.141Z,1629058707.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:27.141Z,1629058707.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:27.141Z,1629058707.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:27.142Z,1629058707.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:27.183Z,1629058707.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:18:27.545Z,1629058707.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005BC,189,80,80,60,FF
2021-08-15T20:18:27.545Z,1629058707.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:27.546Z,1629058707.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:27.547Z,1629058707.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:27.990Z,1629058707.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:28.354Z,1629058708.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C0,189,80,80,7D,FF
2021-08-15T20:18:28.354Z,1629058708.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:28.791Z,1629058708.791 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201828.76*5E

2021-08-15T20:18:28.872Z,1629058708.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 11.354571 deg, deltaT: 4.415641 s, approachRate: 0.054353 m/s, LOS rate: -0.021979 deg/s, posRepo size: 4
2021-08-15T20:18:31.209Z,1629058711.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:31.589Z,1629058711.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:31.589Z,1629058711.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:31.589Z,1629058711.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:31.590Z,1629058711.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:31.993Z,1629058711.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C0,189,80,80,7D,FF
2021-08-15T20:18:31.993Z,1629058711.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:31.993Z,1629058711.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:31.995Z,1629058711.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:32.393Z,1629058712.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:32.837Z,1629058712.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C0,189,80,80,AE,FF
2021-08-15T20:18:32.838Z,1629058712.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:33.229Z,1629058713.229 [Micromodem](INFO): Nmea in: $SNTTA,0.076275,,,,201833.20*48

2021-08-15T20:18:33.288Z,1629058713.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 11.472197 deg, deltaT: 4.549845 s, approachRate: 0.000000 m/s, LOS rate: 0.025853 deg/s, posRepo size: 4
2021-08-15T20:18:35.662Z,1629058715.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:36.025Z,1629058716.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:36.025Z,1629058716.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:36.025Z,1629058716.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:36.026Z,1629058716.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:36.445Z,1629058716.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C0,189,80,80,AE,FF
2021-08-15T20:18:36.445Z,1629058716.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:36.445Z,1629058716.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:36.447Z,1629058716.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:36.857Z,1629058716.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:37.229Z,1629058717.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C5,189,80,80,BF,FF
2021-08-15T20:18:37.230Z,1629058717.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:37.668Z,1629058717.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201837.66*51

2021-08-15T20:18:37.694Z,1629058717.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 11.696607 deg, deltaT: 4.355693 s, approachRate: 0.068874 m/s, LOS rate: 0.051521 deg/s, posRepo size: 4
2021-08-15T20:18:40.090Z,1629058720.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:40.484Z,1629058720.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:40.485Z,1629058720.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:40.485Z,1629058720.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:40.486Z,1629058720.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:40.865Z,1629058720.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C5,189,80,80,BF,FF
2021-08-15T20:18:40.865Z,1629058720.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:40.866Z,1629058720.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:40.868Z,1629058720.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:41.295Z,1629058721.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:41.677Z,1629058721.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C5,189,80,80,81,FF
2021-08-15T20:18:41.678Z,1629058721.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:42.121Z,1629058722.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201842.08*5B

2021-08-15T20:18:42.137Z,1629058722.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 12.598753 deg, deltaT: 4.452264 s, approachRate: 0.000000 m/s, LOS rate: 0.202627 deg/s, posRepo size: 4
2021-08-15T20:18:44.549Z,1629058724.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:44.909Z,1629058724.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:44.909Z,1629058724.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:44.909Z,1629058724.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:44.910Z,1629058724.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:45.321Z,1629058725.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C5,189,80,80,81,FF
2021-08-15T20:18:45.321Z,1629058725.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:45.321Z,1629058725.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:45.323Z,1629058725.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:45.725Z,1629058725.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:46.121Z,1629058726.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005C3,18A,80,80,60,FF
2021-08-15T20:18:46.122Z,1629058726.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:46.553Z,1629058726.553 [Micromodem](INFO): Nmea in: $SNTTA,0.043609,,,,201846.54*40

2021-08-15T20:18:46.615Z,1629058726.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 14.127760 deg, deltaT: 4.467384 s, approachRate: -0.026860 m/s, LOS rate: 0.342260 deg/s, posRepo size: 4
2021-08-15T20:18:48.991Z,1629058728.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:49.353Z,1629058729.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:49.354Z,1629058729.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:49.354Z,1629058729.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:49.355Z,1629058729.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:49.761Z,1629058729.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005C3,18A,80,80,60,FF
2021-08-15T20:18:49.762Z,1629058729.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:49.762Z,1629058729.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:49.763Z,1629058729.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:50.193Z,1629058730.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:50.570Z,1629058730.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CD,188,80,80,8A,FF
2021-08-15T20:18:50.570Z,1629058730.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:50.984Z,1629058730.984 [Micromodem](INFO): Nmea in: $SNTTA,0.440121,0.440371,,,201850.98*56

2021-08-15T20:18:51.023Z,1629058731.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 16.487610 deg, deltaT: 4.401666 s, approachRate: 0.136312 m/s, LOS rate: 0.536127 deg/s, posRepo size: 4
2021-08-15T20:18:53.421Z,1629058733.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:53.797Z,1629058733.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:53.797Z,1629058733.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:53.797Z,1629058733.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:53.798Z,1629058733.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:54.205Z,1629058734.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CD,188,80,80,8A,FF
2021-08-15T20:18:54.205Z,1629058734.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:54.205Z,1629058734.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:54.207Z,1629058734.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:54.673Z,1629058734.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:55.101Z,1629058735.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D2,18A,80,80,78,FF
2021-08-15T20:18:55.101Z,1629058735.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:55.104Z,1629058735.104 [Micromodem](INFO): Nmea in: $SNTTA,0.219880,0.219749,,,201855.42*59

2021-08-15T20:18:55.539Z,1629058735.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.899994 m, bearing: 18.072406 deg, deltaT: 4.633860 s, approachRate: 0.064739 m/s, LOS rate: 0.342003 deg/s, posRepo size: 4
2021-08-15T20:18:57.914Z,1629058737.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:18:58.317Z,1629058738.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:18:58.317Z,1629058738.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:18:58.317Z,1629058738.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:18:58.318Z,1629058738.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:18:58.705Z,1629058738.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D2,18A,80,80,78,FF
2021-08-15T20:18:58.705Z,1629058738.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:18:58.705Z,1629058738.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:18:58.707Z,1629058738.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:18:59.169Z,1629058739.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:18:59.561Z,1629058739.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,005D5,189,80,80,A6,FF
2021-08-15T20:18:59.561Z,1629058739.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:18:59.985Z,1629058739.985 [Micromodem](INFO): Nmea in: $SNTTA,0.041740,,,,201859.92*4A

2021-08-15T20:19:00.033Z,1629058740.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.079994 m, bearing: 122.096817 deg, deltaT: 4.384540 s, approachRate: 0.041053 m/s, LOS rate: 23.725273 deg/s, posRepo size: 4
2021-08-15T20:19:02.410Z,1629058742.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:02.843Z,1629058742.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:02.843Z,1629058742.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:02.843Z,1629058742.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:02.844Z,1629058742.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:03.193Z,1629058743.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,005D5,189,80,80,A6,FF
2021-08-15T20:19:03.193Z,1629058743.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:03.193Z,1629058743.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:03.195Z,1629058743.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:03.601Z,1629058743.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:03.997Z,1629058743.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DA,189,80,80,91,FF
2021-08-15T20:19:03.998Z,1629058743.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:04.466Z,1629058744.466 [Micromodem](INFO): Nmea in: $SNTTA,0.128455,,,,201904.40*45

2021-08-15T20:19:04.520Z,1629058744.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.380001 m, bearing: 21.531099 deg, deltaT: 4.458202 s, approachRate: 0.067293 m/s, LOS rate: -22.557461 deg/s, posRepo size: 4
2021-08-15T20:19:06.895Z,1629058746.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:07.233Z,1629058747.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:07.233Z,1629058747.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:07.233Z,1629058747.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:07.234Z,1629058747.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:07.642Z,1629058747.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DA,189,80,80,91,FF
2021-08-15T20:19:07.642Z,1629058747.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:07.642Z,1629058747.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:07.644Z,1629058747.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:08.044Z,1629058748.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:08.485Z,1629058748.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005DE,18A,80,80,50,FF
2021-08-15T20:19:08.486Z,1629058748.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:08.861Z,1629058748.861 [Micromodem](INFO): Nmea in: $SNTTA,0.461469,0.461607,,,201908.86*58

2021-08-15T20:19:08.918Z,1629058748.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 22.453354 deg, deltaT: 4.441015 s, approachRate: 0.054042 m/s, LOS rate: 0.207668 deg/s, posRepo size: 4
2021-08-15T20:19:11.319Z,1629058751.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:11.681Z,1629058751.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:11.681Z,1629058751.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:11.681Z,1629058751.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:11.682Z,1629058751.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:12.081Z,1629058752.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005DE,18A,80,80,50,FF
2021-08-15T20:19:12.081Z,1629058752.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:12.081Z,1629058752.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:12.083Z,1629058752.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:12.493Z,1629058752.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:12.898Z,1629058752.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E1,188,80,80,6A,FF
2021-08-15T20:19:12.899Z,1629058752.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:12.902Z,1629058752.902 [Micromodem](INFO): Nmea in: $SNTTA,0.051207,0.281020,,,201913.30*5D

2021-08-15T20:19:13.346Z,1629058753.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.799999 m, bearing: 23.265025 deg, deltaT: 4.458891 s, approachRate: 0.040368 m/s, LOS rate: 0.182034 deg/s, posRepo size: 4
2021-08-15T20:19:15.755Z,1629058755.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:16.125Z,1629058756.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:16.126Z,1629058756.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:16.126Z,1629058756.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:16.127Z,1629058756.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:16.533Z,1629058756.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E1,188,80,80,6A,FF
2021-08-15T20:19:16.533Z,1629058756.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:16.533Z,1629058756.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:16.535Z,1629058756.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:16.950Z,1629058756.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:17.341Z,1629058757.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1C,000,005E4,189,80,80,90,FF
2021-08-15T20:19:17.341Z,1629058757.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:17.778Z,1629058757.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.980000 m, bearing: 124.938462 deg, deltaT: 4.464617 s, approachRate: 0.040317 m/s, LOS rate: 22.773160 deg/s, posRepo size: 4
2021-08-15T20:19:20.202Z,1629058760.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:20.589Z,1629058760.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:20.589Z,1629058760.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:20.589Z,1629058760.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:20.590Z,1629058760.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:20.977Z,1629058760.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1C,000,005E4,189,80,80,90,FF
2021-08-15T20:19:20.977Z,1629058760.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:20.978Z,1629058760.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:20.980Z,1629058760.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:21.415Z,1629058761.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:21.781Z,1629058761.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E9,18A,80,80,B4,FF
2021-08-15T20:19:21.782Z,1629058761.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:22.237Z,1629058762.237 [Micromodem](INFO): Nmea in: $SNTTA,0.052519,,,,201922.19*48

2021-08-15T20:19:22.297Z,1629058762.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 23.876357 deg, deltaT: 4.383760 s, approachRate: 0.068435 m/s, LOS rate: -23.053748 deg/s, posRepo size: 4
2021-08-15T20:19:24.674Z,1629058764.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:25.014Z,1629058765.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:25.014Z,1629058765.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:25.014Z,1629058765.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:25.015Z,1629058765.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:25.446Z,1629058765.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E9,18A,80,80,B4,FF
2021-08-15T20:19:25.447Z,1629058765.447 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:25.447Z,1629058765.447 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:25.449Z,1629058765.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:25.824Z,1629058765.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:26.234Z,1629058766.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005ED,189,80,80,9A,FF
2021-08-15T20:19:26.234Z,1629058766.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:26.240Z,1629058766.240 [Micromodem](INFO): Nmea in: $SNTTA,0.053458,0.152452,,,201926.66*5A

2021-08-15T20:19:26.669Z,1629058766.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.519993 m, bearing: 23.863655 deg, deltaT: 4.480152 s, approachRate: 0.053567 m/s, LOS rate: -0.002835 deg/s, posRepo size: 4
2021-08-15T20:19:29.117Z,1629058769.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:29.481Z,1629058769.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:29.481Z,1629058769.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:29.482Z,1629058769.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:29.482Z,1629058769.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:29.861Z,1629058769.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005ED,189,80,80,9A,FF
2021-08-15T20:19:29.861Z,1629058769.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:29.861Z,1629058769.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:29.863Z,1629058769.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:30.271Z,1629058770.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:30.669Z,1629058770.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F5,189,80,80,61,FF
2021-08-15T20:19:30.670Z,1629058770.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:31.111Z,1629058771.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201931.07*51

2021-08-15T20:19:31.202Z,1629058771.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.999996 m, bearing: 24.222098 deg, deltaT: 4.395853 s, approachRate: 0.109195 m/s, LOS rate: 0.081541 deg/s, posRepo size: 4
2021-08-15T20:19:33.577Z,1629058773.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:33.903Z,1629058773.903 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:33.904Z,1629058773.904 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:33.905Z,1629058773.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:33.907Z,1629058773.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:34.317Z,1629058774.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F5,189,80,80,61,FF
2021-08-15T20:19:34.318Z,1629058774.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:34.318Z,1629058774.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:34.319Z,1629058774.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:34.725Z,1629058774.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:35.113Z,1629058775.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F5,189,80,80,6F,FF
2021-08-15T20:19:35.113Z,1629058775.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:35.554Z,1629058775.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201935.53*54

2021-08-15T20:19:35.583Z,1629058775.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.999996 m, bearing: 24.198795 deg, deltaT: 4.547944 s, approachRate: 0.000000 m/s, LOS rate: -0.005124 deg/s, posRepo size: 4
2021-08-15T20:19:37.973Z,1629058777.973 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:38.364Z,1629058778.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:38.364Z,1629058778.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:38.364Z,1629058778.364 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:38.365Z,1629058778.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:38.756Z,1629058778.756 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F5,189,80,80,6F,FF
2021-08-15T20:19:38.757Z,1629058778.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:38.758Z,1629058778.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:38.763Z,1629058778.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:39.157Z,1629058779.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:39.557Z,1629058779.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FA,18A,80,80,A5,FF
2021-08-15T20:19:39.558Z,1629058779.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:40.005Z,1629058780.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,201939.97*50

2021-08-15T20:19:40.021Z,1629058780.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.300003 m, bearing: 24.133855 deg, deltaT: 4.380687 s, approachRate: 0.068484 m/s, LOS rate: -0.014824 deg/s, posRepo size: 4
2021-08-15T20:19:42.449Z,1629058782.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:42.837Z,1629058782.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:42.837Z,1629058782.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:42.837Z,1629058782.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:42.838Z,1629058782.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:43.201Z,1629058783.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FA,18A,80,80,A5,FF
2021-08-15T20:19:43.201Z,1629058783.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:43.202Z,1629058783.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:43.203Z,1629058783.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:43.601Z,1629058783.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:44.006Z,1629058784.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F8,189,80,80,B8,FF
2021-08-15T20:19:44.006Z,1629058784.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:44.457Z,1629058784.457 [Micromodem](INFO): Nmea in: $SNTTA,0.050021,,,,201944.41*49

2021-08-15T20:19:44.500Z,1629058784.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.179996 m, bearing: 23.621285 deg, deltaT: 4.395897 s, approachRate: -0.027300 m/s, LOS rate: -0.116602 deg/s, posRepo size: 4
2021-08-15T20:19:46.893Z,1629058786.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:47.241Z,1629058787.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:47.241Z,1629058787.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:47.241Z,1629058787.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:47.242Z,1629058787.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:47.641Z,1629058787.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F8,189,80,80,B8,FF
2021-08-15T20:19:47.641Z,1629058787.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:47.642Z,1629058787.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:47.643Z,1629058787.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:48.048Z,1629058788.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:48.465Z,1629058788.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FE,189,80,80,AD,FF
2021-08-15T20:19:48.466Z,1629058788.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:48.897Z,1629058788.897 [Micromodem](INFO): Nmea in: $SNTTA,0.085791,,,,201948.86*4A

2021-08-15T20:19:48.933Z,1629058788.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.540005 m, bearing: 23.302309 deg, deltaT: 4.513713 s, approachRate: 0.079759 m/s, LOS rate: -0.070668 deg/s, posRepo size: 4
2021-08-15T20:19:51.330Z,1629058791.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:51.681Z,1629058791.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:51.681Z,1629058791.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:51.681Z,1629058791.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:51.682Z,1629058791.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:52.093Z,1629058792.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FE,189,80,80,AD,FF
2021-08-15T20:19:52.093Z,1629058792.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:52.093Z,1629058792.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:52.095Z,1629058792.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:52.497Z,1629058792.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:52.893Z,1629058792.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00604,189,80,80,A6,FF
2021-08-15T20:19:52.894Z,1629058792.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:52.897Z,1629058792.897 [Micromodem](INFO): Nmea in: $SNTTA,0.051901,0.235708,,,201953.31*57

2021-08-15T20:19:53.353Z,1629058793.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.900002 m, bearing: 22.815055 deg, deltaT: 4.443699 s, approachRate: 0.081013 m/s, LOS rate: -0.109650 deg/s, posRepo size: 4
2021-08-15T20:19:55.768Z,1629058795.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:19:56.125Z,1629058796.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:19:56.125Z,1629058796.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:19:56.125Z,1629058796.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:19:56.126Z,1629058796.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:19:56.537Z,1629058796.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00604,189,80,80,A6,FF
2021-08-15T20:19:56.538Z,1629058796.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:19:56.538Z,1629058796.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:19:56.539Z,1629058796.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:19:56.941Z,1629058796.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:19:57.341Z,1629058797.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00609,189,80,80,9F,FF
2021-08-15T20:19:57.342Z,1629058797.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:19:57.781Z,1629058797.781 [Micromodem](INFO): Nmea in: $SNTTA,0.060332,,,,201957.75*4E

2021-08-15T20:19:57.818Z,1629058797.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 22.691767 deg, deltaT: 4.378667 s, approachRate: 0.068513 m/s, LOS rate: -0.028157 deg/s, posRepo size: 4
2021-08-15T20:19:59.789Z,1629058799.789 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:20:00.226Z,1629058800.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:00.573Z,1629058800.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:00.573Z,1629058800.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:00.574Z,1629058800.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:00.575Z,1629058800.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:00.973Z,1629058800.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00609,189,80,80,9F,FF
2021-08-15T20:20:00.974Z,1629058800.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:00.974Z,1629058800.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:00.975Z,1629058800.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:01.392Z,1629058801.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:01.777Z,1629058801.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0060D,18A,80,80,9E,FF
2021-08-15T20:20:01.778Z,1629058801.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:02.225Z,1629058802.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202002.19*54

2021-08-15T20:20:02.249Z,1629058802.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 22.441577 deg, deltaT: 4.471887 s, approachRate: 0.053669 m/s, LOS rate: -0.055947 deg/s, posRepo size: 4
2021-08-15T20:20:04.645Z,1629058804.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:05.032Z,1629058805.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:05.032Z,1629058805.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:05.032Z,1629058805.032 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:05.033Z,1629058805.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:05.438Z,1629058805.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0060D,18A,80,80,9E,FF
2021-08-15T20:20:05.439Z,1629058805.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:05.439Z,1629058805.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:05.440Z,1629058805.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:05.825Z,1629058805.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:06.229Z,1629058806.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0060E,189,80,80,60,FF
2021-08-15T20:20:06.230Z,1629058806.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:06.321Z,1629058806.321 [CTD_Seabird](ERROR): Failed to parse device response: 4,4.81146,4991.79
2021-08-15T20:20:06.657Z,1629058806.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202006.65*5B

2021-08-15T20:20:06.699Z,1629058806.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 22.114759 deg, deltaT: 4.460234 s, approachRate: 0.013453 m/s, LOS rate: -0.073274 deg/s, posRepo size: 4
2021-08-15T20:20:09.105Z,1629058809.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:09.457Z,1629058809.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:09.457Z,1629058809.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:09.457Z,1629058809.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:09.458Z,1629058809.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:09.869Z,1629058809.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0060E,189,80,80,60,FF
2021-08-15T20:20:09.869Z,1629058809.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:09.869Z,1629058809.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:09.871Z,1629058809.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:10.278Z,1629058810.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:10.681Z,1629058810.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00616,189,80,80,71,FF
2021-08-15T20:20:10.682Z,1629058810.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:11.117Z,1629058811.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202011.08*56

2021-08-15T20:20:11.152Z,1629058811.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 21.608782 deg, deltaT: 4.511401 s, approachRate: 0.106398 m/s, LOS rate: -0.112155 deg/s, posRepo size: 4
2021-08-15T20:20:13.548Z,1629058813.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:13.905Z,1629058813.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:13.905Z,1629058813.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:13.905Z,1629058813.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:13.906Z,1629058813.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:14.321Z,1629058814.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00616,189,80,80,71,FF
2021-08-15T20:20:14.321Z,1629058814.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:14.321Z,1629058814.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:14.323Z,1629058814.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:14.720Z,1629058814.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:15.129Z,1629058815.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00617,189,80,80,97,FF
2021-08-15T20:20:15.130Z,1629058815.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:15.549Z,1629058815.549 [Micromodem](INFO): Nmea in: $SNTTA,0.068026,,,,202015.53*48

2021-08-15T20:20:15.604Z,1629058815.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 21.596915 deg, deltaT: 4.443420 s, approachRate: 0.013502 m/s, LOS rate: -0.002671 deg/s, posRepo size: 4
2021-08-15T20:20:17.958Z,1629058817.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:18.363Z,1629058818.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:18.363Z,1629058818.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:18.363Z,1629058818.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:18.364Z,1629058818.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:18.780Z,1629058818.780 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00617,189,80,80,97,FF
2021-08-15T20:20:18.781Z,1629058818.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:18.781Z,1629058818.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:18.787Z,1629058818.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:19.167Z,1629058819.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:19.557Z,1629058819.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00621,189,80,80,93,FF
2021-08-15T20:20:19.558Z,1629058819.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:20.001Z,1629058820.001 [Micromodem](INFO): Nmea in: $SNTTA,0.053984,,,,202020.00*41

2021-08-15T20:20:20.034Z,1629058820.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.640007 m, bearing: 21.456568 deg, deltaT: 4.339269 s, approachRate: 0.138274 m/s, LOS rate: -0.032343 deg/s, posRepo size: 4
2021-08-15T20:20:22.445Z,1629058822.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:22.833Z,1629058822.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:22.833Z,1629058822.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:22.833Z,1629058822.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:22.834Z,1629058822.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:23.193Z,1629058823.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00621,189,80,80,93,FF
2021-08-15T20:20:23.194Z,1629058823.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:23.194Z,1629058823.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:23.197Z,1629058823.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:23.612Z,1629058823.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:24.002Z,1629058824.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00625,189,80,80,B7,FF
2021-08-15T20:20:24.002Z,1629058824.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:24.441Z,1629058824.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202024.41*5D

2021-08-15T20:20:24.479Z,1629058824.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.879997 m, bearing: 21.504214 deg, deltaT: 4.446343 s, approachRate: 0.053975 m/s, LOS rate: 0.010716 deg/s, posRepo size: 4
2021-08-15T20:20:26.895Z,1629058826.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:27.245Z,1629058827.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:27.245Z,1629058827.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:27.245Z,1629058827.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:27.246Z,1629058827.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:27.649Z,1629058827.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00625,189,80,80,B7,FF
2021-08-15T20:20:27.649Z,1629058827.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:27.649Z,1629058827.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:27.651Z,1629058827.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:28.057Z,1629058828.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:28.885Z,1629058828.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202028.87*5B

2021-08-15T20:20:29.669Z,1629058829.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,038F5,189,80,80,95,FF
2021-08-15T20:20:29.669Z,1629058829.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:30.120Z,1629058830.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 837.359985 m, bearing: 22.184555 deg, deltaT: 5.714626 s, approachRate: 136.575867 m/s, LOS rate: 0.119053 deg/s, posRepo size: 4
2021-08-15T20:20:32.523Z,1629058832.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:32.909Z,1629058832.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:32.909Z,1629058832.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:32.910Z,1629058832.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:32.910Z,1629058832.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:33.313Z,1629058833.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,038F5,189,80,80,95,FF
2021-08-15T20:20:33.313Z,1629058833.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:33.314Z,1629058833.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:33.315Z,1629058833.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:33.713Z,1629058833.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:34.113Z,1629058834.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00630,189,80,80,A7,FF
2021-08-15T20:20:34.114Z,1629058834.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:34.553Z,1629058834.553 [Micromodem](INFO): Nmea in: $SNTTA,0.050074,,,,202034.53*47

2021-08-15T20:20:34.592Z,1629058834.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 22.839765 deg, deltaT: 4.414568 s, approachRate: -176.646957 m/s, LOS rate: 0.148420 deg/s, posRepo size: 4
2021-08-15T20:20:36.984Z,1629058836.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:37.345Z,1629058837.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:37.345Z,1629058837.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:37.345Z,1629058837.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:37.346Z,1629058837.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:37.757Z,1629058837.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00630,189,80,80,A7,FF
2021-08-15T20:20:37.758Z,1629058837.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:37.758Z,1629058837.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:37.759Z,1629058837.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:38.156Z,1629058838.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:38.557Z,1629058838.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00635,189,80,80,A8,FF
2021-08-15T20:20:38.558Z,1629058838.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:38.981Z,1629058838.981 [Micromodem](INFO): Nmea in: $SNTTA,0.049924,0.403937,,,202038.97*53

2021-08-15T20:20:39.045Z,1629058839.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.840004 m, bearing: 23.618229 deg, deltaT: 4.423758 s, approachRate: 0.067816 m/s, LOS rate: 0.175973 deg/s, posRepo size: 4
2021-08-15T20:20:41.441Z,1629058841.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:41.797Z,1629058841.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:41.797Z,1629058841.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:41.797Z,1629058841.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:41.798Z,1629058841.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:42.193Z,1629058842.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00635,189,80,80,A8,FF
2021-08-15T20:20:42.193Z,1629058842.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:42.194Z,1629058842.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:42.195Z,1629058842.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:42.601Z,1629058842.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:43.001Z,1629058843.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0063C,189,80,80,7A,FF
2021-08-15T20:20:43.002Z,1629058843.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:43.005Z,1629058843.005 [Micromodem](INFO): Nmea in: $SNTTA,0.054181,0.223406,,,202043.41*54

2021-08-15T20:20:43.482Z,1629058843.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 24.046970 deg, deltaT: 4.500730 s, approachRate: 0.093319 m/s, LOS rate: 0.095260 deg/s, posRepo size: 4
2021-08-15T20:20:45.865Z,1629058845.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:46.229Z,1629058846.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:46.229Z,1629058846.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:46.229Z,1629058846.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:46.230Z,1629058846.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:46.669Z,1629058846.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0063C,189,80,80,7A,FF
2021-08-15T20:20:46.669Z,1629058846.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:46.669Z,1629058846.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:46.671Z,1629058846.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:47.057Z,1629058847.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:47.445Z,1629058847.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00640,189,80,80,86,FF
2021-08-15T20:20:47.446Z,1629058847.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:47.881Z,1629058847.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202047.88*5D

2021-08-15T20:20:47.938Z,1629058847.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.500008 m, bearing: 24.641620 deg, deltaT: 4.472005 s, approachRate: 0.053668 m/s, LOS rate: 0.132972 deg/s, posRepo size: 4
2021-08-15T20:20:50.309Z,1629058850.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:50.677Z,1629058850.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:50.677Z,1629058850.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:50.677Z,1629058850.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:50.678Z,1629058850.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:51.089Z,1629058851.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00640,189,80,80,86,FF
2021-08-15T20:20:51.089Z,1629058851.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:51.089Z,1629058851.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:51.091Z,1629058851.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:51.569Z,1629058851.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:51.965Z,1629058851.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00644,189,80,80,AB,FF
2021-08-15T20:20:51.966Z,1629058851.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:52.378Z,1629058852.378 [Micromodem](INFO): Nmea in: $SNTTA,0.057105,,,,202052.30*42

2021-08-15T20:20:52.450Z,1629058852.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 25.200348 deg, deltaT: 4.425682 s, approachRate: 0.054227 m/s, LOS rate: 0.126247 deg/s, posRepo size: 4
2021-08-15T20:20:54.904Z,1629058854.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:55.189Z,1629058855.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:55.189Z,1629058855.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:55.189Z,1629058855.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:55.190Z,1629058855.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:20:55.605Z,1629058855.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00644,189,80,80,AB,FF
2021-08-15T20:20:55.605Z,1629058855.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:20:55.606Z,1629058855.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:20:55.608Z,1629058855.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:20:56.008Z,1629058856.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:20:56.405Z,1629058856.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0064A,189,80,80,A8,FF
2021-08-15T20:20:56.406Z,1629058856.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:20:56.862Z,1629058856.862 [Micromodem](INFO): Nmea in: $SNTTA,0.065316,0.479656,,,202056.82*5F

2021-08-15T20:20:56.934Z,1629058856.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.100006 m, bearing: 25.544926 deg, deltaT: 4.482170 s, approachRate: 0.080320 m/s, LOS rate: 0.076877 deg/s, posRepo size: 4
2021-08-15T20:20:59.242Z,1629058859.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:20:59.629Z,1629058859.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:20:59.629Z,1629058859.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:20:59.630Z,1629058859.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:20:59.631Z,1629058859.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:00.042Z,1629058860.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0064A,189,80,80,A8,FF
2021-08-15T20:21:00.042Z,1629058860.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:00.042Z,1629058860.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:00.044Z,1629058860.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:00.449Z,1629058860.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:00.849Z,1629058860.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0064F,189,80,80,6F,FF
2021-08-15T20:21:00.850Z,1629058860.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:00.853Z,1629058860.853 [Micromodem](INFO): Nmea in: $SNTTA,0.046261,0.259366,,,202101.26*50

2021-08-15T20:21:01.288Z,1629058861.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 25.518271 deg, deltaT: 4.485302 s, approachRate: 0.066884 m/s, LOS rate: -0.005943 deg/s, posRepo size: 4
2021-08-15T20:21:03.716Z,1629058863.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:04.077Z,1629058864.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:04.077Z,1629058864.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:04.077Z,1629058864.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:04.078Z,1629058864.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:04.486Z,1629058864.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0064F,189,80,80,6F,FF
2021-08-15T20:21:04.487Z,1629058864.487 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:04.487Z,1629058864.487 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:04.488Z,1629058864.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:04.889Z,1629058864.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:05.309Z,1629058865.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00654,189,80,80,75,FF
2021-08-15T20:21:05.310Z,1629058865.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:05.721Z,1629058865.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202105.70*5D

2021-08-15T20:21:05.771Z,1629058865.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.700005 m, bearing: 25.487865 deg, deltaT: 4.413339 s, approachRate: 0.067976 m/s, LOS rate: -0.006890 deg/s, posRepo size: 4
2021-08-15T20:21:08.138Z,1629058868.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:08.545Z,1629058868.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:08.545Z,1629058868.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:08.545Z,1629058868.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:08.546Z,1629058868.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:08.934Z,1629058868.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00654,189,80,80,75,FF
2021-08-15T20:21:08.934Z,1629058868.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:08.934Z,1629058868.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:08.937Z,1629058868.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:09.333Z,1629058869.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:09.737Z,1629058869.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0065A,189,80,80,86,FF
2021-08-15T20:21:09.738Z,1629058869.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:10.169Z,1629058870.169 [Micromodem](INFO): Nmea in: $SNTTA,0.052971,,,,202110.15*4C

2021-08-15T20:21:10.197Z,1629058870.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.060001 m, bearing: 25.385373 deg, deltaT: 4.443389 s, approachRate: 0.081019 m/s, LOS rate: -0.023066 deg/s, posRepo size: 4
2021-08-15T20:21:12.597Z,1629058872.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:12.965Z,1629058872.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:12.965Z,1629058872.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:12.965Z,1629058872.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:12.966Z,1629058872.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:13.373Z,1629058873.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0065A,189,80,80,86,FF
2021-08-15T20:21:13.373Z,1629058873.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:13.373Z,1629058873.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:13.379Z,1629058873.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:13.776Z,1629058873.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:14.186Z,1629058874.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0065E,189,80,80,7B,FF
2021-08-15T20:21:14.186Z,1629058874.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:14.617Z,1629058874.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202114.59*56

2021-08-15T20:21:14.685Z,1629058874.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 25.190139 deg, deltaT: 4.419802 s, approachRate: 0.054301 m/s, LOS rate: -0.044173 deg/s, posRepo size: 4
2021-08-15T20:21:17.055Z,1629058877.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:17.420Z,1629058877.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:17.421Z,1629058877.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:17.421Z,1629058877.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:17.423Z,1629058877.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:17.825Z,1629058877.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0065E,189,80,80,7B,FF
2021-08-15T20:21:17.825Z,1629058877.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:17.825Z,1629058877.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:17.827Z,1629058877.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:18.233Z,1629058878.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:18.625Z,1629058878.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00666,189,80,80,8D,FF
2021-08-15T20:21:18.626Z,1629058878.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:19.061Z,1629058879.061 [Micromodem](INFO): Nmea in: $SNTTA,0.049444,,,,202119.04*44

2021-08-15T20:21:19.108Z,1629058879.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.780006 m, bearing: 25.077156 deg, deltaT: 4.454963 s, approachRate: 0.107746 m/s, LOS rate: -0.025361 deg/s, posRepo size: 4
2021-08-15T20:21:21.499Z,1629058881.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:21.861Z,1629058881.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:21.861Z,1629058881.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:21.861Z,1629058881.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:21.862Z,1629058881.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:22.262Z,1629058882.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00666,189,80,80,8D,FF
2021-08-15T20:21:22.262Z,1629058882.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:22.262Z,1629058882.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:22.265Z,1629058882.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:22.672Z,1629058882.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:23.109Z,1629058883.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0066C,188,80,80,98,FF
2021-08-15T20:21:23.110Z,1629058883.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:23.514Z,1629058883.514 [Micromodem](INFO): Nmea in: $SNTTA,0.190585,,,,202123.48*4C

2021-08-15T20:21:23.535Z,1629058883.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 24.980900 deg, deltaT: 4.488911 s, approachRate: 0.080197 m/s, LOS rate: -0.021443 deg/s, posRepo size: 4
2021-08-15T20:21:25.930Z,1629058885.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:26.309Z,1629058886.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:26.309Z,1629058886.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:26.309Z,1629058886.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:26.310Z,1629058886.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:26.722Z,1629058886.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0066C,188,80,80,98,FF
2021-08-15T20:21:26.722Z,1629058886.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:26.722Z,1629058886.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:26.723Z,1629058886.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:27.112Z,1629058887.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:27.934Z,1629058887.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202127.94*57

2021-08-15T20:21:28.821Z,1629058888.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:30.337Z,1629058890.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,98,FF
2021-08-15T20:21:30.337Z,1629058890.337 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,98,FF
2021-08-15T20:21:30.337Z,1629058890.337 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:21:31.602Z,1629058891.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:31.953Z,1629058891.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:31.953Z,1629058891.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:31.953Z,1629058891.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:31.954Z,1629058891.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:32.356Z,1629058892.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,98,FF
2021-08-15T20:21:32.356Z,1629058892.356 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:32.357Z,1629058892.357 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:32.360Z,1629058892.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:32.804Z,1629058892.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:33.165Z,1629058893.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00679,189,80,80,BF,FF
2021-08-15T20:21:33.166Z,1629058893.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:33.597Z,1629058893.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202133.57*5D

2021-08-15T20:21:33.635Z,1629058893.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.920002 m, bearing: 24.729050 deg, deltaT: 10.049027 s, approachRate: 0.077619 m/s, LOS rate: -0.025062 deg/s, posRepo size: 4
2021-08-15T20:21:36.047Z,1629058896.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:36.404Z,1629058896.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:36.405Z,1629058896.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:36.406Z,1629058896.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:36.407Z,1629058896.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:36.838Z,1629058896.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00679,189,80,80,BF,FF
2021-08-15T20:21:36.838Z,1629058896.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:36.838Z,1629058896.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:36.839Z,1629058896.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:37.208Z,1629058897.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:37.613Z,1629058897.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00681,189,80,80,B5,FF
2021-08-15T20:21:37.614Z,1629058897.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:38.043Z,1629058898.043 [Micromodem](INFO): Nmea in: $SNTTA,0.060453,,,,202138.05*4B

2021-08-15T20:21:38.071Z,1629058898.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 25.286511 deg, deltaT: 4.421259 s, approachRate: 0.108567 m/s, LOS rate: 0.126087 deg/s, posRepo size: 4
2021-08-15T20:21:40.481Z,1629058900.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:40.845Z,1629058900.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:40.845Z,1629058900.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:40.845Z,1629058900.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:40.846Z,1629058900.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:41.250Z,1629058901.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00681,189,80,80,B5,FF
2021-08-15T20:21:41.250Z,1629058901.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:41.251Z,1629058901.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:41.253Z,1629058901.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:41.648Z,1629058901.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:42.053Z,1629058902.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00686,189,80,80,B8,FF
2021-08-15T20:21:42.054Z,1629058902.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:42.505Z,1629058902.505 [Micromodem](INFO): Nmea in: $SNTTA,0.056560,,,,202142.47*44

2021-08-15T20:21:42.532Z,1629058902.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.700001 m, bearing: 25.260037 deg, deltaT: 4.457737 s, approachRate: 0.067298 m/s, LOS rate: -0.005939 deg/s, posRepo size: 4
2021-08-15T20:21:44.928Z,1629058904.928 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:45.317Z,1629058905.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:45.317Z,1629058905.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:45.317Z,1629058905.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:45.318Z,1629058905.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:45.689Z,1629058905.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00686,189,80,80,B8,FF
2021-08-15T20:21:45.689Z,1629058905.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:45.689Z,1629058905.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:45.691Z,1629058905.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:46.097Z,1629058906.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:46.930Z,1629058906.930 [Micromodem](INFO): Nmea in: $SNTTA,,0.476018,,,202146.91*47

2021-08-15T20:21:47.747Z,1629058907.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:49.329Z,1629058909.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,B8,FF
2021-08-15T20:21:49.329Z,1629058909.329 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,B8,FF
2021-08-15T20:21:49.329Z,1629058909.329 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:21:50.578Z,1629058910.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:50.949Z,1629058910.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:50.949Z,1629058910.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:50.949Z,1629058910.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:50.950Z,1629058910.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:51.354Z,1629058911.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,B8,FF
2021-08-15T20:21:51.354Z,1629058911.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:51.354Z,1629058911.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:51.356Z,1629058911.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:51.752Z,1629058911.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:52.157Z,1629058912.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00696,188,80,80,B3,FF
2021-08-15T20:21:52.158Z,1629058912.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:21:52.589Z,1629058912.589 [Micromodem](INFO): Nmea in: $SNTTA,0.090915,,,,202152.57*40

2021-08-15T20:21:52.629Z,1629058912.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.660007 m, bearing: 25.653304 deg, deltaT: 10.075619 s, approachRate: 0.095280 m/s, LOS rate: 0.039032 deg/s, posRepo size: 4
2021-08-15T20:21:55.047Z,1629058915.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:55.393Z,1629058915.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:21:55.393Z,1629058915.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:21:55.393Z,1629058915.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:21:55.394Z,1629058915.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:21:55.794Z,1629058915.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00696,188,80,80,B3,FF
2021-08-15T20:21:55.794Z,1629058915.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:21:55.794Z,1629058915.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:21:55.795Z,1629058915.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:21:56.193Z,1629058916.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:21:57.043Z,1629058917.043 [Micromodem](INFO): Nmea in: $SNTTA,0.383885,,,,202157.01*4F

2021-08-15T20:21:57.858Z,1629058917.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:21:59.433Z,1629058919.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,B3,FF
2021-08-15T20:21:59.434Z,1629058919.434 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,B3,FF
2021-08-15T20:21:59.435Z,1629058919.435 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:22:00.669Z,1629058920.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:01.041Z,1629058921.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:01.041Z,1629058921.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:01.041Z,1629058921.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:01.042Z,1629058921.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:01.473Z,1629058921.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,B3,FF
2021-08-15T20:22:01.473Z,1629058921.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:01.474Z,1629058921.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:01.475Z,1629058921.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:01.868Z,1629058921.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:02.254Z,1629058922.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A4,18A,80,80,A1,FF
2021-08-15T20:22:02.254Z,1629058922.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:02.674Z,1629058922.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202202.69*51

2021-08-15T20:22:02.713Z,1629058922.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 25.551021 deg, deltaT: 10.140411 s, approachRate: 0.082837 m/s, LOS rate: -0.010087 deg/s, posRepo size: 4
2021-08-15T20:22:05.118Z,1629058925.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:05.485Z,1629058925.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:05.485Z,1629058925.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:05.485Z,1629058925.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:05.486Z,1629058925.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:05.901Z,1629058925.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A4,18A,80,80,A1,FF
2021-08-15T20:22:05.901Z,1629058925.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:05.901Z,1629058925.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:05.903Z,1629058925.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:06.304Z,1629058926.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:06.701Z,1629058926.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A9,189,80,80,B9,FF
2021-08-15T20:22:06.702Z,1629058926.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:07.129Z,1629058927.129 [Micromodem](INFO): Nmea in: $SNTTA,0.092147,,,,202207.12*4F

2021-08-15T20:22:07.178Z,1629058927.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 25.654127 deg, deltaT: 4.495685 s, approachRate: 0.066730 m/s, LOS rate: 0.022935 deg/s, posRepo size: 4
2021-08-15T20:22:09.559Z,1629058929.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:09.926Z,1629058929.926 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:09.926Z,1629058929.926 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:09.927Z,1629058929.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:09.928Z,1629058929.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:10.337Z,1629058930.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A9,189,80,80,B9,FF
2021-08-15T20:22:10.337Z,1629058930.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:10.337Z,1629058930.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:10.339Z,1629058930.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:10.757Z,1629058930.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:11.150Z,1629058931.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006B5,189,80,80,77,FF
2021-08-15T20:22:11.150Z,1629058931.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:11.581Z,1629058931.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202211.55*5C

2021-08-15T20:22:11.606Z,1629058931.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.520004 m, bearing: 25.457035 deg, deltaT: 4.375988 s, approachRate: 0.164535 m/s, LOS rate: -0.045039 deg/s, posRepo size: 4
2021-08-15T20:22:13.986Z,1629058933.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:14.397Z,1629058934.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:14.398Z,1629058934.398 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:14.398Z,1629058934.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:14.404Z,1629058934.404 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:14.825Z,1629058934.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006B5,189,80,80,77,FF
2021-08-15T20:22:14.825Z,1629058934.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:14.825Z,1629058934.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:14.827Z,1629058934.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:15.322Z,1629058935.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:15.693Z,1629058935.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006BC,189,80,80,B1,FF
2021-08-15T20:22:15.694Z,1629058935.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:16.105Z,1629058936.105 [Micromodem](INFO): Nmea in: $SNTTA,0.071002,,,,202216.04*45

2021-08-15T20:22:16.150Z,1629058936.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.940010 m, bearing: 25.428967 deg, deltaT: 4.591701 s, approachRate: 0.091471 m/s, LOS rate: -0.006113 deg/s, posRepo size: 4
2021-08-15T20:22:18.538Z,1629058938.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:18.916Z,1629058938.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:18.916Z,1629058938.916 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:18.917Z,1629058938.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:18.917Z,1629058938.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:19.329Z,1629058939.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006BC,189,80,80,B1,FF
2021-08-15T20:22:19.329Z,1629058939.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:19.329Z,1629058939.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:19.331Z,1629058939.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:19.724Z,1629058939.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:20.121Z,1629058940.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006BF,189,80,80,9E,FF
2021-08-15T20:22:20.122Z,1629058940.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:20.570Z,1629058940.570 [Micromodem](INFO): Nmea in: $SNTTA,0.065279,,,,202220.54*4E

2021-08-15T20:22:20.598Z,1629058940.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.120003 m, bearing: 25.370051 deg, deltaT: 4.361139 s, approachRate: 0.041272 m/s, LOS rate: -0.013509 deg/s, posRepo size: 4
2021-08-15T20:22:23.032Z,1629058943.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:23.349Z,1629058943.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:23.349Z,1629058943.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:23.349Z,1629058943.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:23.350Z,1629058943.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:23.757Z,1629058943.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006BF,189,80,80,9E,FF
2021-08-15T20:22:23.757Z,1629058943.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:23.757Z,1629058943.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:23.759Z,1629058943.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:24.165Z,1629058944.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:24.565Z,1629058944.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C6,189,80,80,B4,FF
2021-08-15T20:22:24.566Z,1629058944.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:24.985Z,1629058944.985 [Micromodem](INFO): Nmea in: $SNTTA,0.403302,0.403196,,,202224.97*5B

2021-08-15T20:22:25.039Z,1629058945.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 25.538883 deg, deltaT: 4.477553 s, approachRate: 0.093803 m/s, LOS rate: 0.037706 deg/s, posRepo size: 4
2021-08-15T20:22:27.047Z,1629058947.047 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:22:27.425Z,1629058947.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:27.801Z,1629058947.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:27.801Z,1629058947.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:27.801Z,1629058947.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:27.802Z,1629058947.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:28.205Z,1629058948.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C6,189,80,80,B4,FF
2021-08-15T20:22:28.205Z,1629058948.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:28.205Z,1629058948.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:28.207Z,1629058948.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:28.613Z,1629058948.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:29.013Z,1629058949.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006CE,189,80,80,A6,FF
2021-08-15T20:22:29.014Z,1629058949.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:29.017Z,1629058949.017 [Micromodem](INFO): Nmea in: $SNTTA,0.217398,0.217467,,,202229.42*56

2021-08-15T20:22:29.471Z,1629058949.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.019997 m, bearing: 25.587897 deg, deltaT: 4.472454 s, approachRate: 0.107321 m/s, LOS rate: 0.010959 deg/s, posRepo size: 4
2021-08-15T20:22:31.866Z,1629058951.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:32.241Z,1629058952.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:32.241Z,1629058952.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:32.241Z,1629058952.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:32.242Z,1629058952.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:32.653Z,1629058952.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006CE,189,80,80,A6,FF
2021-08-15T20:22:32.653Z,1629058952.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:32.653Z,1629058952.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:32.655Z,1629058952.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:33.060Z,1629058953.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:33.461Z,1629058953.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D2,189,80,80,AC,FF
2021-08-15T20:22:33.462Z,1629058953.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:33.897Z,1629058953.897 [Micromodem](INFO): Nmea in: $SNTTA,0.052100,,,,202233.87*4B

2021-08-15T20:22:33.920Z,1629058953.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.260002 m, bearing: 25.916473 deg, deltaT: 4.473153 s, approachRate: 0.053655 m/s, LOS rate: 0.073455 deg/s, posRepo size: 4
2021-08-15T20:22:36.310Z,1629058956.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:36.694Z,1629058956.694 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:36.694Z,1629058956.694 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:36.694Z,1629058956.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:36.695Z,1629058956.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:37.093Z,1629058957.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D2,189,80,80,AC,FF
2021-08-15T20:22:37.093Z,1629058957.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:37.093Z,1629058957.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:37.095Z,1629058957.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:37.515Z,1629058957.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:37.897Z,1629058957.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D9,189,80,80,A1,FF
2021-08-15T20:22:37.898Z,1629058957.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:38.345Z,1629058958.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202238.31*55

2021-08-15T20:22:38.395Z,1629058958.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.680000 m, bearing: 25.706462 deg, deltaT: 4.384511 s, approachRate: 0.095791 m/s, LOS rate: -0.047898 deg/s, posRepo size: 4
2021-08-15T20:22:40.841Z,1629058960.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:41.133Z,1629058961.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:41.133Z,1629058961.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:41.134Z,1629058961.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:41.135Z,1629058961.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:41.534Z,1629058961.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D9,189,80,80,A1,FF
2021-08-15T20:22:41.534Z,1629058961.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:41.534Z,1629058961.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:41.536Z,1629058961.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:41.945Z,1629058961.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:42.346Z,1629058962.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E0,189,80,80,9A,FF
2021-08-15T20:22:42.346Z,1629058962.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:42.793Z,1629058962.793 [Micromodem](INFO): Nmea in: $SNTTA,0.125466,,,,202242.75*44

2021-08-15T20:22:42.866Z,1629058962.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 25.929596 deg, deltaT: 4.430184 s, approachRate: 0.094804 m/s, LOS rate: 0.050367 deg/s, posRepo size: 4
2021-08-15T20:22:45.223Z,1629058965.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:45.573Z,1629058965.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:45.573Z,1629058965.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:45.573Z,1629058965.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:45.574Z,1629058965.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:45.977Z,1629058965.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E0,189,80,80,9A,FF
2021-08-15T20:22:45.977Z,1629058965.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:45.977Z,1629058965.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:46.024Z,1629058966.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:46.385Z,1629058966.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:46.821Z,1629058966.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E7,18A,80,80,BE,FF
2021-08-15T20:22:46.822Z,1629058966.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:47.215Z,1629058967.215 [Micromodem](INFO): Nmea in: $SNTTA,0.054645,,,,202247.24*41

2021-08-15T20:22:47.296Z,1629058967.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.520004 m, bearing: 25.773471 deg, deltaT: 4.535764 s, approachRate: 0.092599 m/s, LOS rate: -0.034421 deg/s, posRepo size: 4
2021-08-15T20:22:49.649Z,1629058969.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:50.017Z,1629058970.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:50.017Z,1629058970.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:50.017Z,1629058970.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:50.018Z,1629058970.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:50.441Z,1629058970.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E7,18A,80,80,BE,FF
2021-08-15T20:22:50.441Z,1629058970.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:50.442Z,1629058970.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:50.465Z,1629058970.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:50.857Z,1629058970.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:51.229Z,1629058971.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006EC,189,80,80,B2,FF
2021-08-15T20:22:51.230Z,1629058971.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:51.669Z,1629058971.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202251.68*56

2021-08-15T20:22:51.717Z,1629058971.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.820007 m, bearing: 25.527818 deg, deltaT: 4.397625 s, approachRate: 0.068219 m/s, LOS rate: -0.055860 deg/s, posRepo size: 4
2021-08-15T20:22:54.102Z,1629058974.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:54.485Z,1629058974.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:54.486Z,1629058974.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:54.486Z,1629058974.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:54.487Z,1629058974.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:54.873Z,1629058974.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006EC,189,80,80,B2,FF
2021-08-15T20:22:54.873Z,1629058974.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:54.873Z,1629058974.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:54.875Z,1629058974.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:55.279Z,1629058975.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:22:55.677Z,1629058975.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F1,189,80,80,CA,FF
2021-08-15T20:22:55.678Z,1629058975.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:22:56.137Z,1629058976.137 [Micromodem](INFO): Nmea in: $SNTTA,0.066366,,,,202256.09*4B

2021-08-15T20:22:56.160Z,1629058976.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.120003 m, bearing: 25.494118 deg, deltaT: 4.516695 s, approachRate: 0.066419 m/s, LOS rate: -0.007461 deg/s, posRepo size: 4
2021-08-15T20:22:58.544Z,1629058978.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:22:58.909Z,1629058978.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:22:58.909Z,1629058978.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:22:58.909Z,1629058978.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:22:58.910Z,1629058978.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:22:59.321Z,1629058979.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F1,189,80,80,CA,FF
2021-08-15T20:22:59.321Z,1629058979.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:22:59.322Z,1629058979.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:22:59.323Z,1629058979.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:22:59.725Z,1629058979.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:00.127Z,1629058980.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006F8,18A,80,80,AA,FF
2021-08-15T20:23:00.128Z,1629058980.128 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:00.545Z,1629058980.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202300.54*5C

2021-08-15T20:23:00.570Z,1629058980.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 25.111747 deg, deltaT: 4.317768 s, approachRate: 0.097272 m/s, LOS rate: -0.088558 deg/s, posRepo size: 4
2021-08-15T20:23:02.998Z,1629058982.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:03.354Z,1629058983.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:03.354Z,1629058983.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:03.354Z,1629058983.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:03.355Z,1629058983.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:03.753Z,1629058983.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006F8,18A,80,80,AA,FF
2021-08-15T20:23:03.753Z,1629058983.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:03.753Z,1629058983.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:03.755Z,1629058983.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:04.161Z,1629058984.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:04.566Z,1629058984.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4FB,000,006FE,189,80,80,BA,FF
2021-08-15T20:23:04.566Z,1629058984.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:05.001Z,1629058985.001 [Micromodem](INFO): Nmea in: $SNTTA,0.060258,,,,202304.97*40

2021-08-15T20:23:05.064Z,1629058985.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 25.087462 deg, deltaT: 4.448273 s, approachRate: 0.080930 m/s, LOS rate: -0.005459 deg/s, posRepo size: 4
2021-08-15T20:23:07.453Z,1629058987.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:07.797Z,1629058987.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:07.797Z,1629058987.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:07.797Z,1629058987.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:07.798Z,1629058987.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:08.209Z,1629058988.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4FB,000,006FE,189,80,80,BA,FF
2021-08-15T20:23:08.209Z,1629058988.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:08.209Z,1629058988.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:08.211Z,1629058988.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:08.605Z,1629058988.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:09.005Z,1629058989.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BF,000,00703,189,80,80,B8,FF
2021-08-15T20:23:09.006Z,1629058989.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:09.453Z,1629058989.453 [Micromodem](INFO): Nmea in: $SNTTA,,0.217217,,,202309.42*4C

2021-08-15T20:23:09.491Z,1629058989.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 27.954270 deg, deltaT: 4.472859 s, approachRate: 0.067072 m/s, LOS rate: 0.640934 deg/s, posRepo size: 4
2021-08-15T20:23:11.854Z,1629058991.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:12.241Z,1629058992.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:12.241Z,1629058992.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:12.242Z,1629058992.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:12.243Z,1629058992.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:12.641Z,1629058992.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BF,000,00703,189,80,80,B8,FF
2021-08-15T20:23:12.641Z,1629058992.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:12.641Z,1629058992.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:12.643Z,1629058992.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:13.117Z,1629058993.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:13.517Z,1629058993.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,0070F,18A,80,80,C9,FF
2021-08-15T20:23:13.518Z,1629058993.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:13.933Z,1629058993.933 [Micromodem](INFO): Nmea in: $SNTTA,0.067935,,,,202313.86*41

2021-08-15T20:23:13.956Z,1629058993.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 28.597690 deg, deltaT: 4.537797 s, approachRate: 0.158666 m/s, LOS rate: 0.141791 deg/s, posRepo size: 4
2021-08-15T20:23:16.378Z,1629058996.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:16.760Z,1629058996.760 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:16.761Z,1629058996.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:16.761Z,1629058996.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:16.763Z,1629058996.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:17.149Z,1629058997.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,0070F,18A,80,80,C9,FF
2021-08-15T20:23:17.149Z,1629058997.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:17.149Z,1629058997.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:17.151Z,1629058997.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:17.557Z,1629058997.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:17.967Z,1629058997.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,48F,000,00718,189,80,80,BC,FF
2021-08-15T20:23:17.967Z,1629058997.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:18.404Z,1629058998.404 [Micromodem](INFO): Nmea in: $SNTTA,0.067802,,,,202318.36*44

2021-08-15T20:23:18.470Z,1629058998.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 29.739757 deg, deltaT: 4.380742 s, approachRate: 0.123269 m/s, LOS rate: 0.260702 deg/s, posRepo size: 4
2021-08-15T20:23:20.882Z,1629059000.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:21.193Z,1629059001.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:21.193Z,1629059001.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:21.193Z,1629059001.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:21.194Z,1629059001.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:21.601Z,1629059001.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
48F,000,00718,189,80,80,BC,FF
2021-08-15T20:23:21.601Z,1629059001.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:21.601Z,1629059001.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:21.603Z,1629059001.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:22.010Z,1629059002.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:22.405Z,1629059002.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,472,000,00721,18A,80,80,D1,FF
2021-08-15T20:23:22.406Z,1629059002.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:22.861Z,1629059002.861 [Micromodem](INFO): Nmea in: $SNTTA,0.053948,,,,202322.82*4A

2021-08-15T20:23:22.922Z,1629059002.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 31.088108 deg, deltaT: 4.499569 s, approachRate: 0.120010 m/s, LOS rate: 0.299662 deg/s, posRepo size: 4
2021-08-15T20:23:25.273Z,1629059005.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:25.637Z,1629059005.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:25.637Z,1629059005.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:25.637Z,1629059005.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:25.638Z,1629059005.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:26.033Z,1629059006.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
472,000,00721,18A,80,80,D1,FF
2021-08-15T20:23:26.033Z,1629059006.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:26.034Z,1629059006.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:26.035Z,1629059006.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:26.481Z,1629059006.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:26.860Z,1629059006.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,455,000,00726,189,80,80,BC,FF
2021-08-15T20:23:26.861Z,1629059006.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:27.305Z,1629059007.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202327.25*5F

2021-08-15T20:23:27.336Z,1629059007.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 32.480305 deg, deltaT: 4.414306 s, approachRate: 0.067962 m/s, LOS rate: 0.315383 deg/s, posRepo size: 4
2021-08-15T20:23:29.804Z,1629059009.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:30.145Z,1629059010.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:30.146Z,1629059010.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:30.146Z,1629059010.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:30.147Z,1629059010.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:30.565Z,1629059010.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
455,000,00726,189,80,80,BC,FF
2021-08-15T20:23:30.565Z,1629059010.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:30.565Z,1629059010.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:30.567Z,1629059010.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:30.965Z,1629059010.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:31.380Z,1629059011.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,455,000,00726,18A,80,80,BD,FF
2021-08-15T20:23:31.381Z,1629059011.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:31.805Z,1629059011.805 [Micromodem](INFO): Nmea in: $SNTTA,0.051017,,,,202331.78*4C

2021-08-15T20:23:31.843Z,1629059011.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 31.986452 deg, deltaT: 4.545088 s, approachRate: 0.000000 m/s, LOS rate: -0.108657 deg/s, posRepo size: 4
2021-08-15T20:23:34.206Z,1629059014.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:34.605Z,1629059014.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:34.605Z,1629059014.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:34.605Z,1629059014.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:34.606Z,1629059014.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:35.001Z,1629059015.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
455,000,00726,18A,80,80,BD,FF
2021-08-15T20:23:35.002Z,1629059015.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:35.002Z,1629059015.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:35.004Z,1629059015.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:35.447Z,1629059015.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:35.809Z,1629059015.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42A,000,0072D,189,80,80,B3,FF
2021-08-15T20:23:35.810Z,1629059015.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:36.268Z,1629059016.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202336.22*58

2021-08-15T20:23:36.303Z,1629059016.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.720009 m, bearing: 33.693262 deg, deltaT: 4.382502 s, approachRate: 0.095837 m/s, LOS rate: 0.389460 deg/s, posRepo size: 4
2021-08-15T20:23:38.679Z,1629059018.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:39.037Z,1629059019.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:39.037Z,1629059019.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:39.037Z,1629059019.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:39.038Z,1629059019.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:39.485Z,1629059019.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42A,000,0072D,189,80,80,B3,FF
2021-08-15T20:23:39.485Z,1629059019.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:39.485Z,1629059019.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:39.487Z,1629059019.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:39.856Z,1629059019.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:40.274Z,1629059020.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F3,000,00739,189,80,80,9F,FF
2021-08-15T20:23:40.275Z,1629059020.275 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:40.688Z,1629059020.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202340.70*5E

2021-08-15T20:23:40.720Z,1629059020.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.440002 m, bearing: 35.262180 deg, deltaT: 4.470849 s, approachRate: 0.161042 m/s, LOS rate: 0.350922 deg/s, posRepo size: 4
2021-08-15T20:23:43.125Z,1629059023.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:43.497Z,1629059023.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:43.497Z,1629059023.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:43.497Z,1629059023.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:43.498Z,1629059023.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:43.885Z,1629059023.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F3,000,00739,189,80,80,9F,FF
2021-08-15T20:23:43.885Z,1629059023.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:43.885Z,1629059023.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:43.887Z,1629059023.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:44.337Z,1629059024.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:44.693Z,1629059024.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,0073C,18A,80,80,79,FF
2021-08-15T20:23:44.693Z,1629059024.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:45.146Z,1629059025.146 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202345.10*5D

2021-08-15T20:23:45.183Z,1629059025.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 36.530819 deg, deltaT: 4.506708 s, approachRate: 0.039941 m/s, LOS rate: 0.281500 deg/s, posRepo size: 4
2021-08-15T20:23:47.577Z,1629059027.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:47.933Z,1629059027.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:47.933Z,1629059027.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:47.933Z,1629059027.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:47.934Z,1629059027.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:48.346Z,1629059028.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,0073C,18A,80,80,79,FF
2021-08-15T20:23:48.347Z,1629059028.347 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:48.347Z,1629059028.347 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:48.349Z,1629059028.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:48.767Z,1629059028.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:49.161Z,1629059029.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,405,000,0073C,189,80,80,BA,FF
2021-08-15T20:23:49.162Z,1629059029.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:49.165Z,1629059029.165 [Micromodem](INFO): Nmea in: $SNTTA,0.064761,0.145555,,,202349.56*54

2021-08-15T20:23:49.588Z,1629059029.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 33.238224 deg, deltaT: 4.376503 s, approachRate: 0.000000 m/s, LOS rate: -0.752335 deg/s, posRepo size: 4
2021-08-15T20:23:51.982Z,1629059031.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:52.386Z,1629059032.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:52.386Z,1629059032.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:52.386Z,1629059032.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:52.387Z,1629059032.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:52.809Z,1629059032.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
405,000,0073C,189,80,80,BA,FF
2021-08-15T20:23:52.809Z,1629059032.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:52.809Z,1629059032.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:52.811Z,1629059032.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:53.289Z,1629059033.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:53.692Z,1629059033.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D6,000,00742,189,80,80,B4,FF
2021-08-15T20:23:53.693Z,1629059033.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:54.093Z,1629059034.093 [Micromodem](INFO): Nmea in: $SNTTA,0.078788,,,,202354.03*49

2021-08-15T20:23:54.128Z,1629059034.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.980011 m, bearing: 34.873607 deg, deltaT: 4.540013 s, approachRate: 0.079297 m/s, LOS rate: 0.360215 deg/s, posRepo size: 4
2021-08-15T20:23:56.541Z,1629059036.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:23:56.907Z,1629059036.907 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:23:56.907Z,1629059036.907 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:23:56.907Z,1629059036.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:23:56.908Z,1629059036.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:23:57.325Z,1629059037.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D6,000,00742,189,80,80,B4,FF
2021-08-15T20:23:57.325Z,1629059037.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:23:57.325Z,1629059037.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:23:57.327Z,1629059037.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:23:57.718Z,1629059037.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:23:58.133Z,1629059038.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,00750,188,80,80,80,FF
2021-08-15T20:23:58.133Z,1629059038.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:23:58.557Z,1629059038.557 [Micromodem](INFO): Nmea in: $SNTTA,0.060801,,,,202358.54*40

2021-08-15T20:23:58.600Z,1629059038.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 34.856344 deg, deltaT: 4.450478 s, approachRate: 0.188741 m/s, LOS rate: -0.003879 deg/s, posRepo size: 4
2021-08-15T20:24:00.995Z,1629059040.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:01.359Z,1629059041.359 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:01.359Z,1629059041.359 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:01.359Z,1629059041.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:01.360Z,1629059041.360 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:01.755Z,1629059041.755 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,00750,188,80,80,80,FF
2021-08-15T20:24:01.755Z,1629059041.755 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:01.755Z,1629059041.755 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:01.757Z,1629059041.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:02.173Z,1629059042.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:02.979Z,1629059042.979 [Micromodem](INFO): Nmea in: $SNTTA,0.441357,0.401756,,,202402.97*57

2021-08-15T20:24:03.789Z,1629059043.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,0395F,189,80,80,B1,FF
2021-08-15T20:24:03.790Z,1629059043.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:04.231Z,1629059044.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 843.720032 m, bearing: 34.160853 deg, deltaT: 5.670558 s, approachRate: 135.595123 m/s, LOS rate: -0.122649 deg/s, posRepo size: 4
2021-08-15T20:24:06.644Z,1629059046.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:07.026Z,1629059047.026 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:07.026Z,1629059047.026 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:07.026Z,1629059047.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:07.027Z,1629059047.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:07.431Z,1629059047.431 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,0395F,189,80,80,B1,FF
2021-08-15T20:24:07.431Z,1629059047.431 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:07.431Z,1629059047.431 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:07.437Z,1629059047.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:07.840Z,1629059047.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:08.223Z,1629059048.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,00759,189,80,80,B1,FF
2021-08-15T20:24:08.223Z,1629059048.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:08.654Z,1629059048.654 [Micromodem](INFO): Nmea in: $SNTTA,0.052370,,,,202408.65*4C

2021-08-15T20:24:08.694Z,1629059048.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.360001 m, bearing: 36.005984 deg, deltaT: 4.430273 s, approachRate: -173.434021 m/s, LOS rate: 0.416482 deg/s, posRepo size: 4
2021-08-15T20:24:10.669Z,1629059050.669 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:24:11.133Z,1629059051.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:11.492Z,1629059051.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:11.493Z,1629059051.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:11.493Z,1629059051.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:11.494Z,1629059051.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:11.860Z,1629059051.860 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,00759,189,80,80,B1,FF
2021-08-15T20:24:11.860Z,1629059051.860 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:11.861Z,1629059051.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:11.864Z,1629059051.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:12.283Z,1629059052.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:12.671Z,1629059052.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D0,000,00764,189,80,80,C7,FF
2021-08-15T20:24:12.671Z,1629059052.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:13.137Z,1629059053.137 [Micromodem](INFO): Nmea in: $SNTTA,0.066662,0.389569,,,202413.08*5A

2021-08-15T20:24:13.195Z,1629059053.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 33.986198 deg, deltaT: 4.529866 s, approachRate: 0.145700 m/s, LOS rate: -0.445882 deg/s, posRepo size: 4
2021-08-15T20:24:15.550Z,1629059055.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:15.950Z,1629059055.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:15.950Z,1629059055.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:15.950Z,1629059055.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:15.951Z,1629059055.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:16.345Z,1629059056.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D0,000,00764,189,80,80,C7,FF
2021-08-15T20:24:16.345Z,1629059056.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:16.345Z,1629059056.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:16.347Z,1629059056.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:16.796Z,1629059056.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:16.834Z,1629059056.834 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:24:17.153Z,1629059057.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,0076C,189,80,80,B1,FF
2021-08-15T20:24:17.153Z,1629059057.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:17.602Z,1629059057.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202417.57*5E

2021-08-15T20:24:17.651Z,1629059057.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.500000 m, bearing: 35.342927 deg, deltaT: 4.412647 s, approachRate: 0.108777 m/s, LOS rate: 0.307464 deg/s, posRepo size: 4
2021-08-15T20:24:20.031Z,1629059060.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:20.377Z,1629059060.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:20.377Z,1629059060.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:20.377Z,1629059060.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:20.378Z,1629059060.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:20.837Z,1629059060.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,0076C,189,80,80,B1,FF
2021-08-15T20:24:20.837Z,1629059060.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:20.837Z,1629059060.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:20.839Z,1629059060.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:21.205Z,1629059061.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:21.601Z,1629059061.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AD,000,00774,189,80,80,B7,FF
2021-08-15T20:24:21.602Z,1629059061.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:22.023Z,1629059062.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202422.05*5F

2021-08-15T20:24:22.063Z,1629059062.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 33.849933 deg, deltaT: 4.458112 s, approachRate: 0.107670 m/s, LOS rate: -0.334894 deg/s, posRepo size: 4
2021-08-15T20:24:24.496Z,1629059064.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:24.853Z,1629059064.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:24.853Z,1629059064.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:24.853Z,1629059064.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:24.854Z,1629059064.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:25.233Z,1629059065.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AD,000,00774,189,80,80,B7,FF
2021-08-15T20:24:25.233Z,1629059065.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:25.233Z,1629059065.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:25.235Z,1629059065.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:25.636Z,1629059065.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:26.037Z,1629059066.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,00776,18A,80,80,A5,FF
2021-08-15T20:24:26.037Z,1629059066.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:26.504Z,1629059066.504 [Micromodem](INFO): Nmea in: $SNTTA,0.087970,,,,202426.45*40

2021-08-15T20:24:26.567Z,1629059066.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.099998 m, bearing: 33.296049 deg, deltaT: 4.382430 s, approachRate: 0.027381 m/s, LOS rate: -0.126387 deg/s, posRepo size: 4
2021-08-15T20:24:28.907Z,1629059068.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:29.266Z,1629059069.266 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:29.266Z,1629059069.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:29.267Z,1629059069.267 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:29.268Z,1629059069.268 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:29.673Z,1629059069.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,00776,18A,80,80,A5,FF
2021-08-15T20:24:29.674Z,1629059069.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:29.674Z,1629059069.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:29.676Z,1629059069.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:30.076Z,1629059070.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:30.501Z,1629059070.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,00789,188,80,80,AD,FF
2021-08-15T20:24:30.501Z,1629059070.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:30.909Z,1629059070.909 [Micromodem](INFO): Nmea in: $SNTTA,0.148422,0.443092,,,202430.89*59

2021-08-15T20:24:30.957Z,1629059070.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.240005 m, bearing: 35.160356 deg, deltaT: 4.509481 s, approachRate: 0.252802 m/s, LOS rate: 0.413419 deg/s, posRepo size: 4
2021-08-15T20:24:33.342Z,1629059073.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:33.721Z,1629059073.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:33.721Z,1629059073.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:33.721Z,1629059073.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:33.722Z,1629059073.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:34.113Z,1629059074.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,00789,188,80,80,AD,FF
2021-08-15T20:24:34.113Z,1629059074.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:34.113Z,1629059074.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:34.115Z,1629059074.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:34.536Z,1629059074.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:34.925Z,1629059074.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,363,000,00786,189,80,80,B8,FF
2021-08-15T20:24:34.925Z,1629059074.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:34.929Z,1629059074.929 [Micromodem](INFO): Nmea in: $SNTTA,0.262335,0.262347,,,202435.33*59

2021-08-15T20:24:35.371Z,1629059075.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 34.362999 deg, deltaT: 4.478883 s, approachRate: -0.040189 m/s, LOS rate: -0.178026 deg/s, posRepo size: 4
2021-08-15T20:24:35.759Z,1629059075.759 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:24:37.786Z,1629059077.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:38.157Z,1629059078.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:38.157Z,1629059078.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:38.157Z,1629059078.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:38.158Z,1629059078.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:38.561Z,1629059078.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
363,000,00786,189,80,80,B8,FF
2021-08-15T20:24:38.561Z,1629059078.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:38.561Z,1629059078.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:38.563Z,1629059078.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:38.986Z,1629059078.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:39.365Z,1629059079.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,359,000,0078E,189,80,80,AD,FF
2021-08-15T20:24:39.366Z,1629059079.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:39.814Z,1629059079.814 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202439.78*5F

2021-08-15T20:24:39.840Z,1629059079.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 33.729516 deg, deltaT: 4.387607 s, approachRate: 0.109398 m/s, LOS rate: -0.144380 deg/s, posRepo size: 4
2021-08-15T20:24:40.599Z,1629059080.599 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:24:42.234Z,1629059082.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:42.597Z,1629059082.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:42.597Z,1629059082.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:42.597Z,1629059082.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:42.598Z,1629059082.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:43.009Z,1629059083.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
359,000,0078E,189,80,80,AD,FF
2021-08-15T20:24:43.009Z,1629059083.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:43.010Z,1629059083.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:43.011Z,1629059083.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:43.438Z,1629059083.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:43.817Z,1629059083.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,367,000,00793,189,80,80,94,FF
2021-08-15T20:24:43.818Z,1629059083.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:44.250Z,1629059084.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202444.23*5B

2021-08-15T20:24:44.289Z,1629059084.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 32.375411 deg, deltaT: 4.403551 s, approachRate: 0.068128 m/s, LOS rate: -0.307503 deg/s, posRepo size: 4
2021-08-15T20:24:45.498Z,1629059085.498 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:24:46.684Z,1629059086.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:47.041Z,1629059087.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:47.041Z,1629059087.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:47.042Z,1629059087.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:47.043Z,1629059087.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:47.477Z,1629059087.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
367,000,00793,189,80,80,94,FF
2021-08-15T20:24:47.477Z,1629059087.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:47.477Z,1629059087.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:47.479Z,1629059087.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:47.857Z,1629059087.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:48.677Z,1629059088.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202448.69*59

2021-08-15T20:24:49.529Z,1629059089.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:51.081Z,1629059091.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,94,FF
2021-08-15T20:24:51.081Z,1629059091.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,94,FF
2021-08-15T20:24:51.081Z,1629059091.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:24:52.331Z,1629059092.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:52.686Z,1629059092.686 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:52.686Z,1629059092.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:52.687Z,1629059092.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:52.688Z,1629059092.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:53.097Z,1629059093.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,94,FF
2021-08-15T20:24:53.097Z,1629059093.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:53.097Z,1629059093.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:53.099Z,1629059093.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:53.508Z,1629059093.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:53.905Z,1629059093.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,313,000,007A2,189,80,80,9E,FF
2021-08-15T20:24:53.905Z,1629059093.905 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:54.354Z,1629059094.354 [Micromodem](INFO): Nmea in: $SNTTA,0.059862,,,,202454.32*44

2021-08-15T20:24:54.372Z,1629059094.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.740005 m, bearing: 35.298650 deg, deltaT: 10.116510 s, approachRate: 0.088964 m/s, LOS rate: 0.288957 deg/s, posRepo size: 4
2021-08-15T20:24:56.818Z,1629059096.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:24:57.141Z,1629059097.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:24:57.141Z,1629059097.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:24:57.141Z,1629059097.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:24:57.142Z,1629059097.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:24:57.537Z,1629059097.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
313,000,007A2,189,80,80,9E,FF
2021-08-15T20:24:57.537Z,1629059097.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:24:57.538Z,1629059097.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:24:57.539Z,1629059097.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:24:57.959Z,1629059097.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:24:58.354Z,1629059098.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,321,000,007AD,189,80,80,BE,FF
2021-08-15T20:24:58.354Z,1629059098.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:24:58.813Z,1629059098.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202458.75*55

2021-08-15T20:24:58.871Z,1629059098.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.399994 m, bearing: 34.711155 deg, deltaT: 4.448267 s, approachRate: 0.148370 m/s, LOS rate: -0.132073 deg/s, posRepo size: 4
2021-08-15T20:25:00.854Z,1629059100.854 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:25:01.202Z,1629059101.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:01.585Z,1629059101.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:01.585Z,1629059101.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:01.585Z,1629059101.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:01.586Z,1629059101.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:01.989Z,1629059101.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
321,000,007AD,189,80,80,BE,FF
2021-08-15T20:25:01.989Z,1629059101.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:01.989Z,1629059101.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:01.991Z,1629059101.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:02.433Z,1629059102.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:02.839Z,1629059102.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,007B4,188,80,80,A2,FF
2021-08-15T20:25:02.841Z,1629059102.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:02.848Z,1629059102.848 [Micromodem](INFO): Nmea in: $SNTTA,0.323723,0.323648,,,202503.21*57

2021-08-15T20:25:03.291Z,1629059103.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.820000 m, bearing: 37.360175 deg, deltaT: 4.542303 s, approachRate: 0.092465 m/s, LOS rate: 0.583189 deg/s, posRepo size: 4
2021-08-15T20:25:05.705Z,1629059105.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:06.057Z,1629059106.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:06.058Z,1629059106.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:06.058Z,1629059106.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:06.059Z,1629059106.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:06.489Z,1629059106.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,007B4,188,80,80,A2,FF
2021-08-15T20:25:06.489Z,1629059106.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:06.489Z,1629059106.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:06.491Z,1629059106.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:06.869Z,1629059106.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:07.278Z,1629059107.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,007C1,189,80,80,A3,FF
2021-08-15T20:25:07.279Z,1629059107.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:07.705Z,1629059107.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202507.71*5A

2021-08-15T20:25:07.743Z,1629059107.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.600006 m, bearing: 35.282544 deg, deltaT: 4.355528 s, approachRate: 0.179084 m/s, LOS rate: -0.477010 deg/s, posRepo size: 4
2021-08-15T20:25:10.118Z,1629059110.118 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:10.533Z,1629059110.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:10.533Z,1629059110.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:10.533Z,1629059110.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:10.534Z,1629059110.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:10.575Z,1629059110.575 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:25:10.913Z,1629059110.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,007C1,189,80,80,A3,FF
2021-08-15T20:25:10.913Z,1629059110.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:10.913Z,1629059110.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:10.915Z,1629059110.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:11.323Z,1629059111.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:11.720Z,1629059111.720 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,007C3,189,80,80,B6,FF
2021-08-15T20:25:11.721Z,1629059111.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:12.157Z,1629059112.157 [Micromodem](INFO): Nmea in: $SNTTA,0.070233,,,,202512.13*41

2021-08-15T20:25:12.179Z,1629059112.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.720001 m, bearing: 37.290982 deg, deltaT: 4.451099 s, approachRate: 0.026959 m/s, LOS rate: 0.451223 deg/s, posRepo size: 4
2021-08-15T20:25:14.604Z,1629059114.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:14.953Z,1629059114.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:14.953Z,1629059114.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:14.954Z,1629059114.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:14.955Z,1629059114.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:15.350Z,1629059115.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,007C3,189,80,80,B6,FF
2021-08-15T20:25:15.350Z,1629059115.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:15.350Z,1629059115.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:15.354Z,1629059115.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:15.756Z,1629059115.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:15.778Z,1629059115.778 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:25:16.170Z,1629059116.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,007D3,189,80,80,9D,FF
2021-08-15T20:25:16.171Z,1629059116.171 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:16.597Z,1629059116.597 [Micromodem](INFO): Nmea in: $SNTTA,0.082475,,,,202516.57*4C

2021-08-15T20:25:16.623Z,1629059116.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.680000 m, bearing: 34.971764 deg, deltaT: 4.450356 s, approachRate: 0.215713 m/s, LOS rate: -0.521131 deg/s, posRepo size: 4
2021-08-15T20:25:19.027Z,1629059119.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:19.389Z,1629059119.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:19.389Z,1629059119.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:19.389Z,1629059119.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:19.390Z,1629059119.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:19.789Z,1629059119.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,007D3,189,80,80,9D,FF
2021-08-15T20:25:19.789Z,1629059119.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:19.790Z,1629059119.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:19.791Z,1629059119.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:20.205Z,1629059120.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:21.045Z,1629059121.045 [Micromodem](INFO): Nmea in: $SNTTA,0.421990,,,,202521.01*40

2021-08-15T20:25:21.838Z,1629059121.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:23.445Z,1629059123.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,9D,FF
2021-08-15T20:25:23.446Z,1629059123.446 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,9D,FF
2021-08-15T20:25:23.446Z,1629059123.446 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:25:24.665Z,1629059124.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:25.045Z,1629059125.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:25.045Z,1629059125.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:25.045Z,1629059125.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:25.046Z,1629059125.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:25.501Z,1629059125.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,9D,FF
2021-08-15T20:25:25.501Z,1629059125.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:25.501Z,1629059125.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:25.503Z,1629059125.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:25.860Z,1629059125.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:26.271Z,1629059126.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B8,000,007E0,189,80,80,B0,FF
2021-08-15T20:25:26.272Z,1629059126.272 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:26.770Z,1629059126.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.460007 m, bearing: 37.624790 deg, deltaT: 10.096616 s, approachRate: 0.077254 m/s, LOS rate: 0.262764 deg/s, posRepo size: 4
2021-08-15T20:25:27.073Z,1629059127.073 [Micromodem](INFO): Nmea in: $SNTTA,0.089254,,,,202526.72*46

2021-08-15T20:25:28.799Z,1629059128.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:29.081Z,1629059129.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:29.081Z,1629059129.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:29.081Z,1629059129.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:29.082Z,1629059129.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:29.481Z,1629059129.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B8,000,007E0,189,80,80,B0,FF
2021-08-15T20:25:29.481Z,1629059129.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:29.481Z,1629059129.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:29.483Z,1629059129.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:29.900Z,1629059129.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:30.301Z,1629059130.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,007E1,189,80,80,91,FF
2021-08-15T20:25:30.301Z,1629059130.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:30.750Z,1629059130.750 [Micromodem](INFO): Nmea in: $SNTTA,0.069078,,,,202530.70*41

2021-08-15T20:25:30.854Z,1629059130.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.519997 m, bearing: 38.756764 deg, deltaT: 4.047790 s, approachRate: 0.014820 m/s, LOS rate: 0.279652 deg/s, posRepo size: 4
2021-08-15T20:25:33.185Z,1629059133.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:33.529Z,1629059133.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:33.530Z,1629059133.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:33.530Z,1629059133.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:33.531Z,1629059133.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:33.929Z,1629059133.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,007E1,189,80,80,91,FF
2021-08-15T20:25:33.929Z,1629059133.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:33.929Z,1629059133.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:33.931Z,1629059133.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:34.337Z,1629059134.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:34.752Z,1629059134.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,007E8,189,80,80,A0,FF
2021-08-15T20:25:34.754Z,1629059134.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:35.173Z,1629059135.173 [Micromodem](INFO): Nmea in: $SNTTA,0.073029,,,,202535.15*48

2021-08-15T20:25:35.220Z,1629059135.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 35.224949 deg, deltaT: 4.503685 s, approachRate: 0.093258 m/s, LOS rate: -0.784206 deg/s, posRepo size: 4
2021-08-15T20:25:37.605Z,1629059137.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:37.965Z,1629059137.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:37.965Z,1629059137.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:37.965Z,1629059137.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:37.966Z,1629059137.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:38.382Z,1629059138.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,007E8,189,80,80,A0,FF
2021-08-15T20:25:38.382Z,1629059138.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:38.382Z,1629059138.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:38.384Z,1629059138.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:38.840Z,1629059138.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:39.228Z,1629059139.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,007F0,189,80,80,AE,FF
2021-08-15T20:25:39.228Z,1629059139.228 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:39.654Z,1629059139.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202539.60*57

2021-08-15T20:25:39.680Z,1629059139.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.420006 m, bearing: 37.594174 deg, deltaT: 4.402424 s, approachRate: 0.109032 m/s, LOS rate: 0.538164 deg/s, posRepo size: 4
2021-08-15T20:25:42.077Z,1629059142.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:42.484Z,1629059142.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:42.485Z,1629059142.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:42.485Z,1629059142.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:42.486Z,1629059142.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:42.857Z,1629059142.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,007F0,189,80,80,AE,FF
2021-08-15T20:25:42.857Z,1629059142.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:42.857Z,1629059142.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:42.859Z,1629059142.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:43.266Z,1629059143.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:43.665Z,1629059143.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,007F6,18A,80,80,7D,FF
2021-08-15T20:25:43.665Z,1629059143.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:44.098Z,1629059144.098 [Micromodem](INFO): Nmea in: $SNTTA,0.080963,,,,202544.07*46

2021-08-15T20:25:44.128Z,1629059144.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.779999 m, bearing: 36.521438 deg, deltaT: 4.464002 s, approachRate: 0.080644 m/s, LOS rate: -0.240308 deg/s, posRepo size: 4
2021-08-15T20:25:46.541Z,1629059146.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:46.901Z,1629059146.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:46.902Z,1629059146.902 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:46.902Z,1629059146.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:46.903Z,1629059146.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:47.309Z,1629059147.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,007F6,18A,80,80,7D,FF
2021-08-15T20:25:47.309Z,1629059147.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:47.309Z,1629059147.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:47.311Z,1629059147.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:47.718Z,1629059147.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:48.109Z,1629059148.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,007FF,189,80,80,87,FF
2021-08-15T20:25:48.109Z,1629059148.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:48.561Z,1629059148.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202548.53*51

2021-08-15T20:25:48.587Z,1629059148.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.320007 m, bearing: 34.210406 deg, deltaT: 4.441508 s, approachRate: 0.121582 m/s, LOS rate: -0.520326 deg/s, posRepo size: 4
2021-08-15T20:25:50.987Z,1629059150.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:51.341Z,1629059151.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:51.341Z,1629059151.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:51.341Z,1629059151.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:51.342Z,1629059151.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:51.745Z,1629059151.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,007FF,189,80,80,87,FF
2021-08-15T20:25:51.745Z,1629059151.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:51.745Z,1629059151.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:51.747Z,1629059151.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:52.161Z,1629059152.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:52.553Z,1629059152.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,00803,189,80,80,9C,FF
2021-08-15T20:25:52.553Z,1629059152.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:52.994Z,1629059152.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202552.96*53

2021-08-15T20:25:53.029Z,1629059153.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.559998 m, bearing: 36.168806 deg, deltaT: 4.459036 s, approachRate: 0.053821 m/s, LOS rate: 0.439198 deg/s, posRepo size: 4
2021-08-15T20:25:55.455Z,1629059155.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:25:55.785Z,1629059155.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:25:55.785Z,1629059155.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:25:55.785Z,1629059155.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:25:55.786Z,1629059155.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:25:56.193Z,1629059156.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,00803,189,80,80,9C,FF
2021-08-15T20:25:56.193Z,1629059156.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:25:56.193Z,1629059156.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:25:56.195Z,1629059156.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:25:56.605Z,1629059156.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:25:56.997Z,1629059156.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,00811,188,80,80,9A,FF
2021-08-15T20:25:56.998Z,1629059156.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:25:57.453Z,1629059157.453 [Micromodem](INFO): Nmea in: $SNTTA,0.115931,,,,202557.41*4C

2021-08-15T20:25:57.495Z,1629059157.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.400002 m, bearing: 37.879065 deg, deltaT: 4.462360 s, approachRate: 0.188242 m/s, LOS rate: 0.383263 deg/s, posRepo size: 4
2021-08-15T20:25:59.858Z,1629059159.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:00.229Z,1629059160.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:00.229Z,1629059160.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:00.230Z,1629059160.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:00.231Z,1629059160.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:00.642Z,1629059160.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,00811,188,80,80,9A,FF
2021-08-15T20:26:00.642Z,1629059160.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:00.642Z,1629059160.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:00.645Z,1629059160.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:01.052Z,1629059161.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:01.469Z,1629059161.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,0081A,189,80,80,92,FF
2021-08-15T20:26:01.469Z,1629059161.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:01.889Z,1629059161.889 [Micromodem](INFO): Nmea in: $SNTTA,0.165145,,,,202601.86*4B

2021-08-15T20:26:01.904Z,1629059161.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.940002 m, bearing: 36.320176 deg, deltaT: 4.420391 s, approachRate: 0.122161 m/s, LOS rate: -0.352658 deg/s, posRepo size: 4
2021-08-15T20:26:04.309Z,1629059164.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:04.677Z,1629059164.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:04.677Z,1629059164.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:04.677Z,1629059164.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:04.678Z,1629059164.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:05.121Z,1629059165.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,0081A,189,80,80,92,FF
2021-08-15T20:26:05.122Z,1629059165.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:05.122Z,1629059165.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:05.123Z,1629059165.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:05.508Z,1629059165.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:05.889Z,1629059165.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00819,189,80,80,B1,FF
2021-08-15T20:26:05.890Z,1629059165.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:06.315Z,1629059166.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202606.34*59

2021-08-15T20:26:06.352Z,1629059166.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.880005 m, bearing: 39.488971 deg, deltaT: 4.448143 s, approachRate: -0.013488 m/s, LOS rate: 0.712386 deg/s, posRepo size: 4
2021-08-15T20:26:08.807Z,1629059168.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:09.125Z,1629059169.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:09.125Z,1629059169.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:09.125Z,1629059169.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:09.126Z,1629059169.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:09.525Z,1629059169.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00819,189,80,80,B1,FF
2021-08-15T20:26:09.525Z,1629059169.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:09.525Z,1629059169.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:09.527Z,1629059169.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:09.949Z,1629059169.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:10.333Z,1629059170.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C3,000,00820,18A,80,80,90,FF
2021-08-15T20:26:10.333Z,1629059170.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:10.793Z,1629059170.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202610.74*5A

2021-08-15T20:26:10.853Z,1629059170.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 36.720671 deg, deltaT: 4.435906 s, approachRate: 0.094681 m/s, LOS rate: -0.624066 deg/s, posRepo size: 4
2021-08-15T20:26:13.201Z,1629059173.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:13.561Z,1629059173.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:13.561Z,1629059173.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:13.561Z,1629059173.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:13.562Z,1629059173.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:13.990Z,1629059173.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C3,000,00820,18A,80,80,90,FF
2021-08-15T20:26:13.990Z,1629059173.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:13.990Z,1629059173.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:13.993Z,1629059173.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:14.372Z,1629059174.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:14.821Z,1629059174.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00829,188,80,80,9C,FF
2021-08-15T20:26:14.822Z,1629059174.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:15.205Z,1629059175.205 [Micromodem](INFO): Nmea in: $SNTTA,0.061177,,,,202615.21*47

2021-08-15T20:26:15.236Z,1629059175.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.839996 m, bearing: 37.577536 deg, deltaT: 4.512284 s, approachRate: 0.119672 m/s, LOS rate: 0.189896 deg/s, posRepo size: 4
2021-08-15T20:26:17.644Z,1629059177.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:18.006Z,1629059178.006 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:18.006Z,1629059178.006 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:18.006Z,1629059178.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:18.007Z,1629059178.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:18.429Z,1629059178.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00829,188,80,80,9C,FF
2021-08-15T20:26:18.429Z,1629059178.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:18.430Z,1629059178.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:18.432Z,1629059178.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:18.851Z,1629059178.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:19.213Z,1629059179.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A6,000,0082E,189,80,80,AB,FF
2021-08-15T20:26:19.214Z,1629059179.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:19.650Z,1629059179.650 [Micromodem](INFO): Nmea in: $SNTTA,0.069215,,,,202619.65*44

2021-08-15T20:26:19.703Z,1629059179.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 38.802687 deg, deltaT: 4.338550 s, approachRate: 0.069150 m/s, LOS rate: 0.282387 deg/s, posRepo size: 4
2021-08-15T20:26:22.081Z,1629059182.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:22.473Z,1629059182.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:22.473Z,1629059182.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:22.473Z,1629059182.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:22.474Z,1629059182.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:22.853Z,1629059182.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A6,000,0082E,189,80,80,AB,FF
2021-08-15T20:26:22.853Z,1629059182.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:22.853Z,1629059182.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:22.855Z,1629059182.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:23.276Z,1629059183.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:23.669Z,1629059183.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,0083C,189,80,80,90,FF
2021-08-15T20:26:23.669Z,1629059183.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:24.106Z,1629059184.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202624.07*59

2021-08-15T20:26:24.128Z,1629059184.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 39.091396 deg, deltaT: 4.492396 s, approachRate: 0.186982 m/s, LOS rate: 0.064266 deg/s, posRepo size: 4
2021-08-15T20:26:26.527Z,1629059186.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:26.893Z,1629059186.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:26.893Z,1629059186.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:26.893Z,1629059186.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:26.894Z,1629059186.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:27.305Z,1629059187.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,0083C,189,80,80,90,FF
2021-08-15T20:26:27.305Z,1629059187.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:27.305Z,1629059187.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:27.307Z,1629059187.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:27.712Z,1629059187.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:28.105Z,1629059188.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00843,18A,80,80,7E,FF
2021-08-15T20:26:28.106Z,1629059188.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:28.546Z,1629059188.546 [Micromodem](INFO): Nmea in: $SNTTA,0.061608,,,,202628.53*43

2021-08-15T20:26:28.573Z,1629059188.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 40.525066 deg, deltaT: 4.427302 s, approachRate: 0.094865 m/s, LOS rate: 0.323825 deg/s, posRepo size: 4
2021-08-15T20:26:30.986Z,1629059190.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:31.349Z,1629059191.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:31.349Z,1629059191.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:31.349Z,1629059191.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:31.350Z,1629059191.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:31.741Z,1629059191.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00843,18A,80,80,7E,FF
2021-08-15T20:26:31.741Z,1629059191.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:31.741Z,1629059191.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:31.743Z,1629059191.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:32.153Z,1629059192.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:32.549Z,1629059192.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,0084E,189,80,80,B0,FF
2021-08-15T20:26:32.550Z,1629059192.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:32.999Z,1629059192.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202632.96*56

2021-08-15T20:26:33.056Z,1629059193.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.060005 m, bearing: 38.117903 deg, deltaT: 4.463415 s, approachRate: 0.147870 m/s, LOS rate: -0.539310 deg/s, posRepo size: 4
2021-08-15T20:26:35.451Z,1629059195.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:35.781Z,1629059195.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:35.781Z,1629059195.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:35.781Z,1629059195.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:35.782Z,1629059195.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:36.189Z,1629059196.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,0084E,189,80,80,B0,FF
2021-08-15T20:26:36.189Z,1629059196.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:36.189Z,1629059196.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:36.191Z,1629059196.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:36.593Z,1629059196.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:36.997Z,1629059196.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,003E6,188,80,80,A3,FF
2021-08-15T20:26:36.998Z,1629059196.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:37.453Z,1629059197.453 [Micromodem](INFO): Nmea in: $SNTTA,0.041927,,,,202637.41*4E

2021-08-15T20:26:37.483Z,1629059197.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 40.273394 deg, deltaT: 4.452081 s, approachRate: -15.201881 m/s, LOS rate: 0.484154 deg/s, posRepo size: 4
2021-08-15T20:26:37.838Z,1629059197.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:26:37.838Z,1629059197.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:26:37.838Z,1629059197.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:26:37.839Z,1629059197.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:26:37.839Z,1629059197.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:26:37.839Z,1629059197.839 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:26:38.234Z,1629059198.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:26:38.234Z,1629059198.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:26:38.234Z,1629059198.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:26:38.234Z,1629059198.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:26:39.867Z,1629059199.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:40.241Z,1629059200.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:40.241Z,1629059200.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:40.241Z,1629059200.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:40.242Z,1629059200.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:40.638Z,1629059200.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,003E6,188,80,80,A3,FF
2021-08-15T20:26:40.638Z,1629059200.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:40.638Z,1629059200.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:40.639Z,1629059200.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:41.048Z,1629059201.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:41.450Z,1629059201.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,346,000,00861,189,80,80,C7,FF
2021-08-15T20:26:41.450Z,1629059201.450 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:41.512Z,1629059201.512 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:26:41.881Z,1629059201.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202641.86*53

2021-08-15T20:26:41.919Z,1629059201.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 35.345744 deg, deltaT: 4.444704 s, approachRate: 15.483598 m/s, LOS rate: -1.108657 deg/s, posRepo size: 4
2021-08-15T20:26:42.293Z,1629059202.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:26:42.293Z,1629059202.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:26:42.293Z,1629059202.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:26:42.294Z,1629059202.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:26:42.294Z,1629059202.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:26:42.294Z,1629059202.294 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:26:42.694Z,1629059202.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:26:42.694Z,1629059202.694 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:26:42.695Z,1629059202.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:26:42.695Z,1629059202.695 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:26:44.290Z,1629059204.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:44.669Z,1629059204.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:44.669Z,1629059204.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:44.669Z,1629059204.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:44.670Z,1629059204.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:45.081Z,1629059205.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
346,000,00861,189,80,80,C7,FF
2021-08-15T20:26:45.081Z,1629059205.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:45.082Z,1629059205.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:45.083Z,1629059205.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:45.496Z,1629059205.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:45.881Z,1629059205.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33B,000,0086A,189,80,80,A1,FF
2021-08-15T20:26:45.882Z,1629059205.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:46.326Z,1629059206.326 [Micromodem](INFO): Nmea in: $SNTTA,0.064574,,,,202646.30*43

2021-08-15T20:26:46.341Z,1629059206.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 37.248799 deg, deltaT: 4.421070 s, approachRate: 0.122141 m/s, LOS rate: 0.430451 deg/s, posRepo size: 4
2021-08-15T20:26:48.814Z,1629059208.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:49.129Z,1629059209.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:49.129Z,1629059209.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:49.129Z,1629059209.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:49.130Z,1629059209.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:49.533Z,1629059209.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33B,000,0086A,189,80,80,A1,FF
2021-08-15T20:26:49.533Z,1629059209.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:49.533Z,1629059209.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:49.535Z,1629059209.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:49.943Z,1629059209.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:50.329Z,1629059210.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,00873,189,80,80,B3,FF
2021-08-15T20:26:50.330Z,1629059210.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:50.790Z,1629059210.790 [Micromodem](INFO): Nmea in: $SNTTA,0.070257,,,,202650.75*46

2021-08-15T20:26:50.857Z,1629059210.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.280006 m, bearing: 35.270824 deg, deltaT: 4.438406 s, approachRate: 0.121667 m/s, LOS rate: -0.445650 deg/s, posRepo size: 4
2021-08-15T20:26:53.186Z,1629059213.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:53.561Z,1629059213.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:53.561Z,1629059213.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:53.561Z,1629059213.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:53.562Z,1629059213.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:53.973Z,1629059213.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,00873,189,80,80,B3,FF
2021-08-15T20:26:53.973Z,1629059213.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:53.973Z,1629059213.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:53.975Z,1629059213.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:54.377Z,1629059214.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:54.819Z,1629059214.819 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34D,000,00876,189,80,80,AB,FF
2021-08-15T20:26:54.820Z,1629059214.820 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:55.189Z,1629059215.189 [Micromodem](INFO): Nmea in: $SNTTA,0.089844,0.331013,,,202655.19*5A

2021-08-15T20:26:55.228Z,1629059215.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 38.691311 deg, deltaT: 4.549816 s, approachRate: 0.039560 m/s, LOS rate: 0.751786 deg/s, posRepo size: 4
2021-08-15T20:26:57.638Z,1629059217.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:26:58.001Z,1629059218.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:26:58.001Z,1629059218.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:26:58.001Z,1629059218.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:26:58.002Z,1629059218.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:26:58.425Z,1629059218.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34D,000,00876,189,80,80,AB,FF
2021-08-15T20:26:58.425Z,1629059218.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:26:58.425Z,1629059218.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:26:58.427Z,1629059218.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:26:58.837Z,1629059218.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:26:59.217Z,1629059219.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,00883,189,80,80,B8,FF
2021-08-15T20:26:59.218Z,1629059219.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:26:59.661Z,1629059219.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202659.64*56

2021-08-15T20:26:59.686Z,1629059219.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.239998 m, bearing: 36.423090 deg, deltaT: 4.369283 s, approachRate: 0.178519 m/s, LOS rate: -0.519129 deg/s, posRepo size: 4
2021-08-15T20:27:00.098Z,1629059220.098 [CTD_Seabird](ERROR): Failed to parse device response: 3,4.81509,4956.82
2021-08-15T20:27:02.093Z,1629059222.093 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:02.449Z,1629059222.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:02.449Z,1629059222.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:02.449Z,1629059222.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:02.450Z,1629059222.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:02.861Z,1629059222.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,00883,189,80,80,B8,FF
2021-08-15T20:27:02.861Z,1629059222.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:02.861Z,1629059222.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:02.863Z,1629059222.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:03.271Z,1629059223.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:03.673Z,1629059223.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00883,189,80,80,B7,FF
2021-08-15T20:27:03.674Z,1629059223.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:04.105Z,1629059224.105 [Micromodem](INFO): Nmea in: $SNTTA,0.084466,,,,202704.08*43

2021-08-15T20:27:04.171Z,1629059224.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.239998 m, bearing: 37.683141 deg, deltaT: 4.401001 s, approachRate: 0.000000 m/s, LOS rate: 0.286310 deg/s, posRepo size: 4
2021-08-15T20:27:06.537Z,1629059226.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:06.909Z,1629059226.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:06.909Z,1629059226.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:06.909Z,1629059226.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:06.910Z,1629059226.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:07.305Z,1629059227.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00883,189,80,80,B7,FF
2021-08-15T20:27:07.305Z,1629059227.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:07.305Z,1629059227.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:07.307Z,1629059227.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:07.721Z,1629059227.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:08.534Z,1629059228.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202708.52*56

2021-08-15T20:27:09.348Z,1629059229.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:10.943Z,1629059230.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,B7,FF
2021-08-15T20:27:10.943Z,1629059230.943 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,B7,FF
2021-08-15T20:27:10.943Z,1629059230.943 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:27:12.190Z,1629059232.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:12.561Z,1629059232.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:12.562Z,1629059232.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:12.562Z,1629059232.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:12.563Z,1629059232.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:12.966Z,1629059232.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,B7,FF
2021-08-15T20:27:12.966Z,1629059232.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:12.966Z,1629059232.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:12.967Z,1629059232.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:13.367Z,1629059233.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:13.766Z,1629059233.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,00894,189,80,80,97,FF
2021-08-15T20:27:13.767Z,1629059233.767 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:14.210Z,1629059234.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202714.19*54

2021-08-15T20:27:14.236Z,1629059234.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 36.558144 deg, deltaT: 10.103453 s, approachRate: 0.100956 m/s, LOS rate: -0.111348 deg/s, posRepo size: 4
2021-08-15T20:27:16.658Z,1629059236.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:17.010Z,1629059237.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:17.010Z,1629059237.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:17.010Z,1629059237.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:17.011Z,1629059237.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:17.422Z,1629059237.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,00894,189,80,80,97,FF
2021-08-15T20:27:17.423Z,1629059237.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:17.423Z,1629059237.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:17.436Z,1629059237.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:17.809Z,1629059237.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:18.227Z,1629059238.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,397,000,0089A,189,80,80,B7,FF
2021-08-15T20:27:18.236Z,1629059238.236 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:18.627Z,1629059238.627 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202718.66*50

2021-08-15T20:27:18.671Z,1629059238.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 38.675547 deg, deltaT: 4.504749 s, approachRate: 0.079914 m/s, LOS rate: 0.470038 deg/s, posRepo size: 4
2021-08-15T20:27:21.083Z,1629059241.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:21.478Z,1629059241.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:21.479Z,1629059241.479 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:21.479Z,1629059241.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:21.480Z,1629059241.480 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:21.845Z,1629059241.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
397,000,0089A,189,80,80,B7,FF
2021-08-15T20:27:21.845Z,1629059241.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:21.845Z,1629059241.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:21.847Z,1629059241.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:22.255Z,1629059242.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:22.653Z,1629059242.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,0089F,189,80,80,C0,FF
2021-08-15T20:27:22.653Z,1629059242.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:23.101Z,1629059243.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202723.07*5F

2021-08-15T20:27:23.174Z,1629059243.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.919998 m, bearing: 40.492807 deg, deltaT: 4.405498 s, approachRate: 0.068097 m/s, LOS rate: 0.412498 deg/s, posRepo size: 4
2021-08-15T20:27:25.513Z,1629059245.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:25.885Z,1629059245.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:25.885Z,1629059245.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:25.885Z,1629059245.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:25.886Z,1629059245.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:26.297Z,1629059246.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,0089F,189,80,80,C0,FF
2021-08-15T20:27:26.297Z,1629059246.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:26.297Z,1629059246.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:26.299Z,1629059246.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:26.710Z,1629059246.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:27.097Z,1629059247.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,008A6,189,80,80,B2,FF
2021-08-15T20:27:27.097Z,1629059247.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:27.101Z,1629059247.101 [Micromodem](INFO): Nmea in: $SNTTA,0.090755,0.127924,,,202727.52*5E

2021-08-15T20:27:27.555Z,1629059247.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 38.947948 deg, deltaT: 4.484635 s, approachRate: 0.093654 m/s, LOS rate: -0.344478 deg/s, posRepo size: 4
2021-08-15T20:27:29.953Z,1629059249.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:30.329Z,1629059250.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:30.329Z,1629059250.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:30.329Z,1629059250.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:30.330Z,1629059250.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:30.741Z,1629059250.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,008A6,189,80,80,B2,FF
2021-08-15T20:27:30.741Z,1629059250.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:30.742Z,1629059250.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:30.747Z,1629059250.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:31.149Z,1629059251.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:31.556Z,1629059251.556 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,008B1,189,80,80,85,FF
2021-08-15T20:27:31.557Z,1629059251.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:31.978Z,1629059251.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202731.96*54

2021-08-15T20:27:31.999Z,1629059251.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.000008 m, bearing: 39.245891 deg, deltaT: 4.394837 s, approachRate: 0.150177 m/s, LOS rate: 0.067794 deg/s, posRepo size: 4
2021-08-15T20:27:34.436Z,1629059254.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:34.813Z,1629059254.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:34.813Z,1629059254.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:34.813Z,1629059254.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:34.814Z,1629059254.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:35.177Z,1629059255.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,008B1,189,80,80,85,FF
2021-08-15T20:27:35.177Z,1629059255.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:35.177Z,1629059255.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:35.179Z,1629059255.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:35.612Z,1629059255.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:35.985Z,1629059255.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B8,000,008B4,189,80,80,AC,FF
2021-08-15T20:27:35.986Z,1629059255.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:36.445Z,1629059256.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202736.40*58

2021-08-15T20:27:36.488Z,1629059256.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 40.723914 deg, deltaT: 4.450741 s, approachRate: 0.040441 m/s, LOS rate: 0.332085 deg/s, posRepo size: 4
2021-08-15T20:27:38.861Z,1629059258.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:39.217Z,1629059259.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:39.217Z,1629059259.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:39.217Z,1629059259.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:39.218Z,1629059259.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:39.625Z,1629059259.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B8,000,008B4,189,80,80,AC,FF
2021-08-15T20:27:39.625Z,1629059259.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:39.626Z,1629059259.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:39.627Z,1629059259.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:40.034Z,1629059260.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:40.454Z,1629059260.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,008BD,189,80,80,6E,FF
2021-08-15T20:27:40.454Z,1629059260.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:40.873Z,1629059260.873 [Micromodem](INFO): Nmea in: $SNTTA,0.466280,,,,202740.84*41

2021-08-15T20:27:40.932Z,1629059260.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 43.039146 deg, deltaT: 4.446590 s, approachRate: 0.121442 m/s, LOS rate: 0.520676 deg/s, posRepo size: 4
2021-08-15T20:27:43.291Z,1629059263.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:43.661Z,1629059263.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:43.661Z,1629059263.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:43.661Z,1629059263.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:43.662Z,1629059263.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:44.065Z,1629059264.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,008BD,189,80,80,6E,FF
2021-08-15T20:27:44.065Z,1629059264.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:44.065Z,1629059264.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:44.067Z,1629059264.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:44.481Z,1629059264.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:44.873Z,1629059264.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B5,000,008C5,189,80,80,6A,FF
2021-08-15T20:27:44.873Z,1629059264.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:45.333Z,1629059265.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202745.28*52

2021-08-15T20:27:45.369Z,1629059265.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.200005 m, bearing: 42.572009 deg, deltaT: 4.469012 s, approachRate: 0.107407 m/s, LOS rate: -0.104528 deg/s, posRepo size: 4
2021-08-15T20:27:47.741Z,1629059267.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:48.101Z,1629059268.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:48.101Z,1629059268.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:48.101Z,1629059268.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:48.102Z,1629059268.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:48.521Z,1629059268.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B5,000,008C5,189,80,80,6A,FF
2021-08-15T20:27:48.521Z,1629059268.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:48.521Z,1629059268.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:48.523Z,1629059268.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:48.933Z,1629059268.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:49.321Z,1629059269.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,008D2,189,80,80,7A,FF
2021-08-15T20:27:49.322Z,1629059269.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:49.767Z,1629059269.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 42.585348 deg, deltaT: 4.417203 s, approachRate: 0.176582 m/s, LOS rate: 0.003020 deg/s, posRepo size: 4
2021-08-15T20:27:52.170Z,1629059272.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:52.553Z,1629059272.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:52.553Z,1629059272.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:52.553Z,1629059272.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:52.554Z,1629059272.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:52.957Z,1629059272.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,008D2,189,80,80,7A,FF
2021-08-15T20:27:52.957Z,1629059272.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:52.957Z,1629059272.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:52.959Z,1629059272.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:53.377Z,1629059273.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:53.761Z,1629059273.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,008D6,189,80,80,A5,FF
2021-08-15T20:27:53.761Z,1629059273.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:54.205Z,1629059274.205 [Micromodem](INFO): Nmea in: $SNTTA,0.070968,,,,202754.18*4F

2021-08-15T20:27:54.228Z,1629059274.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.220001 m, bearing: 42.987384 deg, deltaT: 4.446203 s, approachRate: 0.053978 m/s, LOS rate: 0.090422 deg/s, posRepo size: 4
2021-08-15T20:27:56.631Z,1629059276.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:27:56.993Z,1629059276.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:27:56.993Z,1629059276.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:27:56.993Z,1629059276.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:27:56.994Z,1629059276.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:27:57.409Z,1629059277.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,008D6,189,80,80,A5,FF
2021-08-15T20:27:57.409Z,1629059277.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:27:57.410Z,1629059277.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:27:57.436Z,1629059277.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:27:57.816Z,1629059277.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:27:58.213Z,1629059278.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,008DE,189,80,80,9A,FF
2021-08-15T20:27:58.213Z,1629059278.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:27:58.635Z,1629059278.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202758.66*54

2021-08-15T20:27:58.672Z,1629059278.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.700005 m, bearing: 42.986222 deg, deltaT: 4.457366 s, approachRate: 0.107688 m/s, LOS rate: -0.000260 deg/s, posRepo size: 4
2021-08-15T20:28:00.732Z,1629059280.732 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T20:28:00.778Z,1629059280.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:01.041Z,1629059281.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:01.041Z,1629059281.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:01.041Z,1629059281.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:01.042Z,1629059281.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:01.469Z,1629059281.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,008DE,189,80,80,9A,FF
2021-08-15T20:28:01.469Z,1629059281.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:01.469Z,1629059281.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:01.471Z,1629059281.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:01.864Z,1629059281.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:02.254Z,1629059282.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F4,000,008E8,189,80,80,B1,FF
2021-08-15T20:28:02.254Z,1629059282.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:02.685Z,1629059282.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202802.69*5B

2021-08-15T20:28:02.730Z,1629059282.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 41.292332 deg, deltaT: 4.008881 s, approachRate: 0.149667 m/s, LOS rate: -0.422534 deg/s, posRepo size: 4
2021-08-15T20:28:05.089Z,1629059285.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:05.489Z,1629059285.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:05.490Z,1629059285.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:05.490Z,1629059285.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:05.491Z,1629059285.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:05.881Z,1629059285.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F4,000,008E8,189,80,80,B1,FF
2021-08-15T20:28:05.881Z,1629059285.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:05.882Z,1629059285.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:05.883Z,1629059285.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:06.307Z,1629059286.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:06.689Z,1629059286.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F4,000,008F0,189,80,80,CA,FF
2021-08-15T20:28:06.690Z,1629059286.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:07.137Z,1629059287.137 [Micromodem](INFO): Nmea in: $SNTTA,0.068991,,,,202807.10*41

2021-08-15T20:28:07.159Z,1629059287.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 41.303055 deg, deltaT: 4.470692 s, approachRate: 0.107365 m/s, LOS rate: 0.002399 deg/s, posRepo size: 4
2021-08-15T20:28:09.574Z,1629059289.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:09.921Z,1629059289.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:09.921Z,1629059289.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:09.921Z,1629059289.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:09.922Z,1629059289.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:10.330Z,1629059290.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F4,000,008F0,189,80,80,CA,FF
2021-08-15T20:28:10.330Z,1629059290.330 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:10.331Z,1629059290.331 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:10.333Z,1629059290.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:10.741Z,1629059290.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:11.146Z,1629059291.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,008FB,189,80,80,92,FF
2021-08-15T20:28:11.147Z,1629059291.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:11.574Z,1629059291.574 [Micromodem](INFO): Nmea in: $SNTTA,0.082117,,,,202811.55*45

2021-08-15T20:28:11.599Z,1629059291.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.440002 m, bearing: 44.347291 deg, deltaT: 4.456453 s, approachRate: 0.148101 m/s, LOS rate: 0.683107 deg/s, posRepo size: 4
2021-08-15T20:28:14.033Z,1629059294.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:14.373Z,1629059294.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:14.373Z,1629059294.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:14.374Z,1629059294.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:14.375Z,1629059294.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:14.769Z,1629059294.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,008FB,189,80,80,92,FF
2021-08-15T20:28:14.769Z,1629059294.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:14.769Z,1629059294.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:14.771Z,1629059294.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:15.182Z,1629059295.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:15.582Z,1629059295.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00901,189,80,80,9C,FF
2021-08-15T20:28:15.585Z,1629059295.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:16.034Z,1629059296.034 [Micromodem](INFO): Nmea in: $SNTTA,0.103748,,,,202815.99*45

2021-08-15T20:28:16.097Z,1629059296.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.800011 m, bearing: 43.237819 deg, deltaT: 4.457350 s, approachRate: 0.080767 m/s, LOS rate: -0.248908 deg/s, posRepo size: 4
2021-08-15T20:28:18.517Z,1629059298.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:18.809Z,1629059298.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:18.809Z,1629059298.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:18.809Z,1629059298.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:18.810Z,1629059298.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:19.217Z,1629059299.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00901,189,80,80,9C,FF
2021-08-15T20:28:19.218Z,1629059299.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:19.218Z,1629059299.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:19.219Z,1629059299.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:19.624Z,1629059299.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:20.021Z,1629059300.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D4,000,00909,189,80,80,95,FF
2021-08-15T20:28:20.022Z,1629059300.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:20.497Z,1629059300.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202820.44*54

2021-08-15T20:28:20.523Z,1629059300.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 43.102366 deg, deltaT: 4.419133 s, approachRate: 0.108616 m/s, LOS rate: -0.030651 deg/s, posRepo size: 4
2021-08-15T20:28:22.894Z,1629059302.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:23.262Z,1629059303.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:23.262Z,1629059303.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:23.263Z,1629059303.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:23.264Z,1629059303.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:23.670Z,1629059303.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D4,000,00909,189,80,80,95,FF
2021-08-15T20:28:23.670Z,1629059303.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:23.670Z,1629059303.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:23.673Z,1629059303.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:24.074Z,1629059304.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:24.481Z,1629059304.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AB,000,00918,188,80,80,63,FF
2021-08-15T20:28:24.482Z,1629059304.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:24.913Z,1629059304.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202824.89*51

2021-08-15T20:28:24.935Z,1629059304.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 44.880012 deg, deltaT: 4.461817 s, approachRate: 0.201714 m/s, LOS rate: 0.398413 deg/s, posRepo size: 4
2021-08-15T20:28:27.326Z,1629059307.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:27.709Z,1629059307.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:27.709Z,1629059307.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:27.710Z,1629059307.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:27.711Z,1629059307.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:28.113Z,1629059308.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AB,000,00918,188,80,80,63,FF
2021-08-15T20:28:28.114Z,1629059308.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:28.114Z,1629059308.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:28.115Z,1629059308.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:28.535Z,1629059308.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:28.925Z,1629059308.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CD,000,0091E,189,80,80,6F,FF
2021-08-15T20:28:28.926Z,1629059308.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:29.362Z,1629059309.362 [Micromodem](INFO): Nmea in: $SNTTA,0.078148,,,,202829.34*46

2021-08-15T20:28:29.388Z,1629059309.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 43.097175 deg, deltaT: 4.441169 s, approachRate: 0.081058 m/s, LOS rate: -0.401434 deg/s, posRepo size: 4
2021-08-15T20:28:31.844Z,1629059311.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:32.153Z,1629059312.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:32.153Z,1629059312.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:32.153Z,1629059312.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:32.154Z,1629059312.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:32.554Z,1629059312.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CD,000,0091E,189,80,80,6F,FF
2021-08-15T20:28:32.554Z,1629059312.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:32.554Z,1629059312.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:32.555Z,1629059312.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:32.957Z,1629059312.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:33.354Z,1629059313.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,00923,189,80,80,C9,FF
2021-08-15T20:28:33.354Z,1629059313.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:33.833Z,1629059313.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202833.78*59

2021-08-15T20:28:33.888Z,1629059313.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 42.959581 deg, deltaT: 4.390647 s, approachRate: 0.068328 m/s, LOS rate: -0.031338 deg/s, posRepo size: 4
2021-08-15T20:28:35.885Z,1629059315.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:36.185Z,1629059316.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:36.185Z,1629059316.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:36.185Z,1629059316.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:36.186Z,1629059316.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:36.593Z,1629059316.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,00923,189,80,80,C9,FF
2021-08-15T20:28:36.593Z,1629059316.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:36.593Z,1629059316.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:36.595Z,1629059316.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:37.001Z,1629059317.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:37.421Z,1629059317.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D6,000,0092B,189,80,80,86,FF
2021-08-15T20:28:37.422Z,1629059317.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:37.861Z,1629059317.861 [Micromodem](INFO): Nmea in: $SNTTA,0.076179,,,,202837.81*4B

2021-08-15T20:28:37.907Z,1629059317.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 42.519246 deg, deltaT: 4.114962 s, approachRate: 0.116646 m/s, LOS rate: -0.107008 deg/s, posRepo size: 4
2021-08-15T20:28:40.251Z,1629059320.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:40.653Z,1629059320.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:40.653Z,1629059320.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:40.653Z,1629059320.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:40.654Z,1629059320.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:41.061Z,1629059321.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D6,000,0092B,189,80,80,86,FF
2021-08-15T20:28:41.061Z,1629059321.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:41.062Z,1629059321.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:41.063Z,1629059321.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:41.452Z,1629059321.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:41.865Z,1629059321.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E3,000,0092F,189,80,80,B3,FF
2021-08-15T20:28:41.865Z,1629059321.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:42.270Z,1629059322.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202842.28*5A

2021-08-15T20:28:42.308Z,1629059322.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 41.826180 deg, deltaT: 4.433666 s, approachRate: 0.054131 m/s, LOS rate: -0.156319 deg/s, posRepo size: 4
2021-08-15T20:28:44.705Z,1629059324.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:45.082Z,1629059325.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:45.082Z,1629059325.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:45.082Z,1629059325.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:45.083Z,1629059325.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:45.481Z,1629059325.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E3,000,0092F,189,80,80,B3,FF
2021-08-15T20:28:45.481Z,1629059325.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:45.482Z,1629059325.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:45.483Z,1629059325.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:45.885Z,1629059325.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:46.294Z,1629059326.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,00936,189,80,80,9B,FF
2021-08-15T20:28:46.294Z,1629059326.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:46.725Z,1629059326.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202846.70*53

2021-08-15T20:28:46.751Z,1629059326.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 44.581259 deg, deltaT: 4.390423 s, approachRate: 0.095664 m/s, LOS rate: 0.627520 deg/s, posRepo size: 4
2021-08-15T20:28:49.141Z,1629059329.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:49.517Z,1629059329.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:49.517Z,1629059329.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:49.517Z,1629059329.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:49.518Z,1629059329.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:49.921Z,1629059329.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,00936,189,80,80,9B,FF
2021-08-15T20:28:49.921Z,1629059329.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:49.921Z,1629059329.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:49.923Z,1629059329.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:50.332Z,1629059330.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:50.741Z,1629059330.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BB,000,0093E,189,80,80,B5,FF
2021-08-15T20:28:50.742Z,1629059330.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:51.173Z,1629059331.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202851.14*57

2021-08-15T20:28:51.196Z,1629059331.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 44.047296 deg, deltaT: 4.526211 s, approachRate: 0.106050 m/s, LOS rate: -0.117971 deg/s, posRepo size: 4
2021-08-15T20:28:53.588Z,1629059333.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:53.970Z,1629059333.970 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:53.970Z,1629059333.970 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:53.970Z,1629059333.970 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:53.971Z,1629059333.971 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:54.369Z,1629059334.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BB,000,0093E,189,80,80,B5,FF
2021-08-15T20:28:54.369Z,1629059334.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:54.369Z,1629059334.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:54.371Z,1629059334.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:54.781Z,1629059334.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:55.186Z,1629059335.186 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,00947,189,80,80,B6,FF
2021-08-15T20:28:55.186Z,1629059335.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:28:55.637Z,1629059335.637 [Micromodem](INFO): Nmea in: $SNTTA,0.111992,,,,202855.59*47

2021-08-15T20:28:55.691Z,1629059335.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.000000 m, bearing: 44.310955 deg, deltaT: 4.360943 s, approachRate: 0.123825 m/s, LOS rate: 0.060459 deg/s, posRepo size: 4
2021-08-15T20:28:58.049Z,1629059338.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:28:58.440Z,1629059338.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:28:58.440Z,1629059338.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:28:58.440Z,1629059338.440 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:28:58.442Z,1629059338.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:28:58.813Z,1629059338.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,00947,189,80,80,B6,FF
2021-08-15T20:28:58.813Z,1629059338.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:28:58.814Z,1629059338.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:28:58.815Z,1629059338.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:28:59.239Z,1629059339.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:28:59.628Z,1629059339.628 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EE,000,0094F,189,80,80,B4,FF
2021-08-15T20:28:59.628Z,1629059339.628 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:00.081Z,1629059340.081 [Micromodem](INFO): Nmea in: $SNTTA,0.138590,,,,202900.04*4B

2021-08-15T20:29:00.140Z,1629059340.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.480003 m, bearing: 43.574653 deg, deltaT: 4.476982 s, approachRate: 0.107216 m/s, LOS rate: -0.164464 deg/s, posRepo size: 4
2021-08-15T20:29:02.511Z,1629059342.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:02.857Z,1629059342.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:02.857Z,1629059342.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:02.857Z,1629059342.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:02.858Z,1629059342.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:03.278Z,1629059343.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EE,000,0094F,189,80,80,B4,FF
2021-08-15T20:29:03.278Z,1629059343.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:03.278Z,1629059343.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:03.280Z,1629059343.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:03.664Z,1629059343.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:04.502Z,1629059344.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202904.50*56

2021-08-15T20:29:05.297Z,1629059345.297 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:06.893Z,1629059346.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,B4,FF
2021-08-15T20:29:06.893Z,1629059346.893 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,B4,FF
2021-08-15T20:29:06.893Z,1629059346.893 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:29:08.162Z,1629059348.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:08.509Z,1629059348.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:08.509Z,1629059348.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:08.509Z,1629059348.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:08.510Z,1629059348.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:08.917Z,1629059348.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B4,FF
2021-08-15T20:29:08.917Z,1629059348.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:08.918Z,1629059348.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:08.921Z,1629059348.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:09.320Z,1629059349.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:09.717Z,1629059349.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,00960,18A,80,80,B8,FF
2021-08-15T20:29:09.718Z,1629059349.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:10.149Z,1629059350.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202910.14*53

2021-08-15T20:29:10.204Z,1629059350.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 42.597305 deg, deltaT: 10.154970 s, approachRate: 0.100443 m/s, LOS rate: -0.096243 deg/s, posRepo size: 4
2021-08-15T20:29:12.573Z,1629059352.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:12.953Z,1629059352.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:12.953Z,1629059352.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:12.954Z,1629059352.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:12.955Z,1629059352.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:13.354Z,1629059353.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,00960,18A,80,80,B8,FF
2021-08-15T20:29:13.354Z,1629059353.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:13.354Z,1629059353.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:13.356Z,1629059353.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:13.771Z,1629059353.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:14.170Z,1629059354.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44D,000,00966,189,80,80,A6,FF
2021-08-15T20:29:14.170Z,1629059354.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:14.601Z,1629059354.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202914.58*5F

2021-08-15T20:29:14.613Z,1629059354.613 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:29:14.661Z,1629059354.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 42.608544 deg, deltaT: 4.371107 s, approachRate: 0.082359 m/s, LOS rate: 0.002571 deg/s, posRepo size: 4
2021-08-15T20:29:17.014Z,1629059357.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:17.404Z,1629059357.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:17.404Z,1629059357.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:17.405Z,1629059357.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:17.407Z,1629059357.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:17.827Z,1629059357.827 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44D,000,00966,189,80,80,A6,FF
2021-08-15T20:29:17.827Z,1629059357.827 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:17.827Z,1629059357.827 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:17.829Z,1629059357.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:18.290Z,1629059358.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:18.679Z,1629059358.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,488,000,00971,189,80,80,A5,FF
2021-08-15T20:29:18.680Z,1629059358.680 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:18.710Z,1629059358.710 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:29:19.097Z,1629059359.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202919.05*5A

2021-08-15T20:29:19.137Z,1629059359.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.520004 m, bearing: 41.102941 deg, deltaT: 4.542991 s, approachRate: 0.145280 m/s, LOS rate: -0.331412 deg/s, posRepo size: 4
2021-08-15T20:29:21.548Z,1629059361.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:21.913Z,1629059361.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:21.913Z,1629059361.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:21.913Z,1629059361.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:21.914Z,1629059361.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:22.317Z,1629059362.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
488,000,00971,189,80,80,A5,FF
2021-08-15T20:29:22.317Z,1629059362.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:22.317Z,1629059362.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:22.319Z,1629059362.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:22.741Z,1629059362.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:23.125Z,1629059363.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4CD,000,0097C,189,80,80,B0,FF
2021-08-15T20:29:23.126Z,1629059363.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:23.549Z,1629059363.549 [Micromodem](INFO): Nmea in: $SNTTA,0.083431,,,,202923.54*44

2021-08-15T20:29:23.614Z,1629059363.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.180008 m, bearing: 38.668474 deg, deltaT: 4.393303 s, approachRate: 0.150229 m/s, LOS rate: -0.554131 deg/s, posRepo size: 4
2021-08-15T20:29:26.016Z,1629059366.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:26.353Z,1629059366.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:26.354Z,1629059366.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:26.354Z,1629059366.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:26.355Z,1629059366.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:26.773Z,1629059366.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4CD,000,0097C,189,80,80,B0,FF
2021-08-15T20:29:26.773Z,1629059366.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:26.773Z,1629059366.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:26.775Z,1629059366.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:27.169Z,1629059367.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:27.971Z,1629059367.971 [Micromodem](INFO): Nmea in: $SNTTA,0.402881,0.404181,,,202928.00*52

2021-08-15T20:29:28.809Z,1629059368.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:30.408Z,1629059370.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,B0,FF
2021-08-15T20:29:30.409Z,1629059370.409 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,B0,FF
2021-08-15T20:29:30.410Z,1629059370.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:29:31.637Z,1629059371.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:32.009Z,1629059372.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:32.009Z,1629059372.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:32.009Z,1629059372.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:32.010Z,1629059372.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:32.426Z,1629059372.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,B0,FF
2021-08-15T20:29:32.426Z,1629059372.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:32.427Z,1629059372.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:32.431Z,1629059372.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:32.828Z,1629059372.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:33.229Z,1629059373.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00990,18A,80,80,A3,FF
2021-08-15T20:29:33.229Z,1629059373.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:33.657Z,1629059373.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202933.65*54

2021-08-15T20:29:33.694Z,1629059373.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.380005 m, bearing: 37.670173 deg, deltaT: 10.140001 s, approachRate: 0.118343 m/s, LOS rate: -0.098452 deg/s, posRepo size: 4
2021-08-15T20:29:36.104Z,1629059376.104 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:36.473Z,1629059376.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:36.473Z,1629059376.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:36.473Z,1629059376.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:36.474Z,1629059376.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:36.866Z,1629059376.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00990,18A,80,80,A3,FF
2021-08-15T20:29:36.866Z,1629059376.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:36.866Z,1629059376.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:36.867Z,1629059376.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:37.270Z,1629059377.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:37.677Z,1629059377.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00998,189,80,80,A7,FF
2021-08-15T20:29:37.677Z,1629059377.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:38.113Z,1629059378.113 [Micromodem](INFO): Nmea in: $SNTTA,0.081179,,,,202938.09*4D

2021-08-15T20:29:38.161Z,1629059378.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 37.785044 deg, deltaT: 4.446205 s, approachRate: 0.107958 m/s, LOS rate: 0.025836 deg/s, posRepo size: 4
2021-08-15T20:29:38.162Z,1629059378.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 109.86 m. Resuming terminal guidance.
2021-08-15T20:29:38.162Z,1629059378.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T20:29:38.526Z,1629059378.526 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T20:29:38.527Z,1629059378.527 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T20:29:40.549Z,1629059380.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:41.005Z,1629059381.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:41.005Z,1629059381.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:41.005Z,1629059381.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:41.006Z,1629059381.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:41.439Z,1629059381.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00998,189,80,80,A7,FF
2021-08-15T20:29:41.440Z,1629059381.440 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:41.440Z,1629059381.440 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:41.442Z,1629059381.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:41.881Z,1629059381.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:42.229Z,1629059382.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E4,000,0099D,189,80,80,A6,FF
2021-08-15T20:29:42.230Z,1629059382.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:42.648Z,1629059382.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202942.66*51

2021-08-15T20:29:42.677Z,1629059382.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 38.568886 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T20:29:42.677Z,1629059382.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 38.568886deg and heading rate command to 0 deg/s.
2021-08-15T20:29:45.075Z,1629059385.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:45.473Z,1629059385.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:45.473Z,1629059385.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:45.473Z,1629059385.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:45.474Z,1629059385.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:45.881Z,1629059385.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E4,000,0099D,189,80,80,A6,FF
2021-08-15T20:29:45.881Z,1629059385.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:45.881Z,1629059385.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:45.883Z,1629059385.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:46.271Z,1629059386.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:46.677Z,1629059386.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,431,000,00998,18A,80,80,BA,FF
2021-08-15T20:29:46.678Z,1629059386.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:47.105Z,1629059387.105 [Micromodem](INFO): Nmea in: $SNTTA,0.072918,,,,202947.10*4E

2021-08-15T20:29:47.128Z,1629059387.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.860008 m, bearing: 44.548625 deg, deltaT: 4.450566 s, approachRate: -0.067406 m/s, LOS rate: 1.343591 deg/s, posRepo size: 2
2021-08-15T20:29:49.556Z,1629059389.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:49.905Z,1629059389.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:49.906Z,1629059389.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:49.906Z,1629059389.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:49.907Z,1629059389.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:50.321Z,1629059390.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
431,000,00998,18A,80,80,BA,FF
2021-08-15T20:29:50.321Z,1629059390.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:50.321Z,1629059390.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:50.323Z,1629059390.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:50.737Z,1629059390.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:51.113Z,1629059391.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,332,000,0098D,189,80,80,B8,FF
2021-08-15T20:29:51.114Z,1629059391.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:51.549Z,1629059391.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,202951.54*52

2021-08-15T20:29:51.596Z,1629059391.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 46.859992 deg, deltaT: 4.425855 s, approachRate: -0.149125 m/s, LOS rate: 0.522242 deg/s, posRepo size: 3
2021-08-15T20:29:53.991Z,1629059393.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:54.341Z,1629059394.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:54.342Z,1629059394.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:54.342Z,1629059394.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:54.343Z,1629059394.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:54.761Z,1629059394.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
332,000,0098D,189,80,80,B8,FF
2021-08-15T20:29:54.761Z,1629059394.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:54.761Z,1629059394.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:54.763Z,1629059394.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:55.235Z,1629059395.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:29:55.625Z,1629059395.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00966,189,80,80,9E,FF
2021-08-15T20:29:55.626Z,1629059395.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:29:56.038Z,1629059396.038 [Micromodem](INFO): Nmea in: $SNTTA,0.412535,0.412554,,,202955.98*51

2021-08-15T20:29:56.093Z,1629059396.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.860001 m, bearing: 44.718413 deg, deltaT: 4.592053 s, approachRate: -0.509577 m/s, LOS rate: -0.466366 deg/s, posRepo size: 4
2021-08-15T20:29:58.501Z,1629059398.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:29:58.849Z,1629059398.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:29:58.849Z,1629059398.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:29:58.849Z,1629059398.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:29:58.850Z,1629059398.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:29:59.267Z,1629059399.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00966,189,80,80,9E,FF
2021-08-15T20:29:59.267Z,1629059399.267 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:29:59.267Z,1629059399.267 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:29:59.270Z,1629059399.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:29:59.657Z,1629059399.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:00.065Z,1629059400.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00942,186,80,80,9B,FF
2021-08-15T20:30:00.066Z,1629059400.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:00.509Z,1629059400.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203000.49*52

2021-08-15T20:30:00.553Z,1629059400.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.700005 m, bearing: 45.670757 deg, deltaT: 4.405535 s, approachRate: -0.490291 m/s, LOS rate: 0.216170 deg/s, posRepo size: 4
2021-08-15T20:30:02.950Z,1629059402.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:03.305Z,1629059403.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:03.306Z,1629059403.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:03.306Z,1629059403.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:03.307Z,1629059403.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:03.693Z,1629059403.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00942,186,80,80,9B,FF
2021-08-15T20:30:03.693Z,1629059403.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:03.694Z,1629059403.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:03.695Z,1629059403.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:04.109Z,1629059404.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:04.517Z,1629059404.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05F,000,0091E,186,80,80,A6,FF
2021-08-15T20:30:04.518Z,1629059404.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:04.946Z,1629059404.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203004.91*53

2021-08-15T20:30:04.968Z,1629059404.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 46.451604 deg, deltaT: 4.464829 s, approachRate: -0.483782 m/s, LOS rate: 0.174889 deg/s, posRepo size: 4
2021-08-15T20:30:07.362Z,1629059407.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:07.740Z,1629059407.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:07.740Z,1629059407.740 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:07.740Z,1629059407.740 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:07.741Z,1629059407.741 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:08.141Z,1629059408.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05F,000,0091E,186,80,80,A6,FF
2021-08-15T20:30:08.141Z,1629059408.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:08.141Z,1629059408.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:08.143Z,1629059408.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:08.671Z,1629059408.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:09.051Z,1629059409.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,008F0,186,80,80,99,FF
2021-08-15T20:30:09.051Z,1629059409.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:09.485Z,1629059409.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203009.36*53

2021-08-15T20:30:09.522Z,1629059409.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 45.253924 deg, deltaT: 4.475231 s, approachRate: -0.616728 m/s, LOS rate: -0.267624 deg/s, posRepo size: 4
2021-08-15T20:30:11.942Z,1629059411.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:12.289Z,1629059412.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:12.289Z,1629059412.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:12.289Z,1629059412.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:12.290Z,1629059412.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:12.687Z,1629059412.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,008F0,186,80,80,99,FF
2021-08-15T20:30:12.687Z,1629059412.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:12.687Z,1629059412.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:12.689Z,1629059412.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:13.097Z,1629059413.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:13.497Z,1629059413.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,008C9,186,80,80,B4,FF
2021-08-15T20:30:13.498Z,1629059413.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:13.949Z,1629059413.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203013.91*55

2021-08-15T20:30:14.009Z,1629059414.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 45.017937 deg, deltaT: 4.485190 s, approachRate: -0.521716 m/s, LOS rate: -0.052615 deg/s, posRepo size: 4
2021-08-15T20:30:16.361Z,1629059416.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:16.736Z,1629059416.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:16.736Z,1629059416.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:16.736Z,1629059416.736 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:16.737Z,1629059416.737 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:17.141Z,1629059417.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,008C9,186,80,80,B4,FF
2021-08-15T20:30:17.141Z,1629059417.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:17.141Z,1629059417.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:17.143Z,1629059417.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:17.542Z,1629059417.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:17.947Z,1629059417.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,008A2,186,80,80,B9,FF
2021-08-15T20:30:17.947Z,1629059417.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:18.401Z,1629059418.401 [Micromodem](INFO): Nmea in: $SNTTA,0.076097,,,,203018.36*42

2021-08-15T20:30:18.460Z,1629059418.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 45.844199 deg, deltaT: 4.458320 s, approachRate: -0.524862 m/s, LOS rate: 0.185330 deg/s, posRepo size: 4
2021-08-15T20:30:20.817Z,1629059420.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:21.185Z,1629059421.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:21.185Z,1629059421.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:21.185Z,1629059421.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:21.186Z,1629059421.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:21.579Z,1629059421.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,008A2,186,80,80,B9,FF
2021-08-15T20:30:21.579Z,1629059421.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:21.579Z,1629059421.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:21.581Z,1629059421.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:21.996Z,1629059421.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:22.381Z,1629059422.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00879,186,80,80,89,FF
2021-08-15T20:30:22.382Z,1629059422.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:22.825Z,1629059422.825 [Micromodem](INFO): Nmea in: $SNTTA,,0.001882,,,203022.80*4A

2021-08-15T20:30:22.862Z,1629059422.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.639999 m, bearing: 45.931280 deg, deltaT: 4.437686 s, approachRate: -0.554343 m/s, LOS rate: 0.019623 deg/s, posRepo size: 4
2021-08-15T20:30:25.233Z,1629059425.233 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:25.619Z,1629059425.619 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:25.619Z,1629059425.619 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:25.619Z,1629059425.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:25.620Z,1629059425.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:26.030Z,1629059426.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00879,186,80,80,89,FF
2021-08-15T20:30:26.031Z,1629059426.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:26.031Z,1629059426.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:26.032Z,1629059426.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:26.454Z,1629059426.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:26.831Z,1629059426.831 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00848,186,80,80,C2,FF
2021-08-15T20:30:26.831Z,1629059426.831 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:27.277Z,1629059427.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203027.25*5D

2021-08-15T20:30:27.308Z,1629059427.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.699997 m, bearing: 46.170200 deg, deltaT: 4.398798 s, approachRate: -0.668365 m/s, LOS rate: 0.054315 deg/s, posRepo size: 4
2021-08-15T20:30:29.703Z,1629059429.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:30.063Z,1629059430.063 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:30.063Z,1629059430.063 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:30.063Z,1629059430.063 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:30.065Z,1629059430.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:30.477Z,1629059430.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00848,186,80,80,C2,FF
2021-08-15T20:30:30.477Z,1629059430.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:30.477Z,1629059430.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:30.479Z,1629059430.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:30.889Z,1629059430.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:31.285Z,1629059431.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08B,000,0081E,186,80,80,B1,FF
2021-08-15T20:30:31.286Z,1629059431.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:31.713Z,1629059431.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203031.70*5A

2021-08-15T20:30:31.766Z,1629059431.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.180008 m, bearing: 45.207414 deg, deltaT: 4.474185 s, approachRate: -0.563229 m/s, LOS rate: -0.215187 deg/s, posRepo size: 4
2021-08-15T20:30:34.150Z,1629059434.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:34.521Z,1629059434.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:34.521Z,1629059434.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:34.521Z,1629059434.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:34.522Z,1629059434.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:34.911Z,1629059434.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08B,000,0081E,186,80,80,B1,FF
2021-08-15T20:30:34.911Z,1629059434.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:34.911Z,1629059434.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:34.913Z,1629059434.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:35.336Z,1629059435.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:35.724Z,1629059435.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,007F4,186,80,80,9A,FF
2021-08-15T20:30:35.725Z,1629059435.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:36.138Z,1629059436.138 [Micromodem](INFO): Nmea in: $SNTTA,0.065468,0.335536,,,203036.13*54

2021-08-15T20:30:36.173Z,1629059436.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.660004 m, bearing: 45.240923 deg, deltaT: 4.522061 s, approachRate: -0.557269 m/s, LOS rate: 0.007410 deg/s, posRepo size: 4
2021-08-15T20:30:38.578Z,1629059438.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:38.959Z,1629059438.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:38.959Z,1629059438.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:38.959Z,1629059438.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:38.960Z,1629059438.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:39.359Z,1629059439.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,007F4,186,80,80,9A,FF
2021-08-15T20:30:39.359Z,1629059439.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:39.359Z,1629059439.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:39.361Z,1629059439.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:39.805Z,1629059439.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:40.180Z,1629059440.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,007CB,186,80,80,B2,FF
2021-08-15T20:30:40.181Z,1629059440.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:40.184Z,1629059440.184 [Micromodem](INFO): Nmea in: $SNTTA,0.081264,0.151347,,,203040.58*5A

2021-08-15T20:30:40.607Z,1629059440.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.200005 m, bearing: 45.954254 deg, deltaT: 4.355784 s, approachRate: -0.564766 m/s, LOS rate: 0.163766 deg/s, posRepo size: 4
2021-08-15T20:30:43.008Z,1629059443.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:43.424Z,1629059443.424 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:43.424Z,1629059443.424 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:43.425Z,1629059443.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:43.427Z,1629059443.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:43.853Z,1629059443.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,007CB,186,80,80,B2,FF
2021-08-15T20:30:43.853Z,1629059443.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:43.853Z,1629059443.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:43.855Z,1629059443.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:44.232Z,1629059444.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:44.629Z,1629059444.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,007A0,185,80,80,73,FF
2021-08-15T20:30:44.630Z,1629059444.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:45.073Z,1629059445.073 [Micromodem](INFO): Nmea in: $SNTTA,0.057290,,,,203045.08*41

2021-08-15T20:30:45.120Z,1629059445.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.620003 m, bearing: 48.110094 deg, deltaT: 4.456236 s, approachRate: -0.578964 m/s, LOS rate: 0.483780 deg/s, posRepo size: 4
2021-08-15T20:30:47.516Z,1629059447.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:47.861Z,1629059447.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:47.862Z,1629059447.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:47.862Z,1629059447.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:47.863Z,1629059447.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:48.275Z,1629059448.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,007A0,185,80,80,73,FF
2021-08-15T20:30:48.275Z,1629059448.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:48.275Z,1629059448.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:48.277Z,1629059448.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:48.658Z,1629059448.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:49.061Z,1629059449.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00776,186,80,80,9D,FF
2021-08-15T20:30:49.061Z,1629059449.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:49.518Z,1629059449.518 [Micromodem](INFO): Nmea in: $SNTTA,0.053437,,,,203049.50*4F

2021-08-15T20:30:49.543Z,1629059449.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.099998 m, bearing: 47.303735 deg, deltaT: 4.460509 s, approachRate: -0.564959 m/s, LOS rate: -0.180777 deg/s, posRepo size: 4
2021-08-15T20:30:51.946Z,1629059451.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:52.310Z,1629059452.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:52.310Z,1629059452.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:52.310Z,1629059452.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:52.310Z,1629059452.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:52.699Z,1629059452.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00776,186,80,80,9D,FF
2021-08-15T20:30:52.699Z,1629059452.699 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:52.699Z,1629059452.699 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:52.701Z,1629059452.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:53.158Z,1629059453.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:53.507Z,1629059453.507 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00747,186,80,80,B8,FF
2021-08-15T20:30:53.507Z,1629059453.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:53.953Z,1629059453.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203053.92*52

2021-08-15T20:30:54.007Z,1629059454.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 46.414397 deg, deltaT: 4.417581 s, approachRate: -0.638358 m/s, LOS rate: -0.201318 deg/s, posRepo size: 4
2021-08-15T20:30:56.393Z,1629059456.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:30:56.746Z,1629059456.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:30:56.746Z,1629059456.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:30:56.746Z,1629059456.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:30:56.747Z,1629059456.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:30:57.145Z,1629059457.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00747,186,80,80,B8,FF
2021-08-15T20:30:57.145Z,1629059457.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:30:57.145Z,1629059457.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:30:57.147Z,1629059457.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:30:57.549Z,1629059457.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:30:57.949Z,1629059457.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00719,186,80,80,AD,FF
2021-08-15T20:30:57.949Z,1629059457.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:30:57.975Z,1629059457.975 [Micromodem](INFO): Nmea in: $SNTTA,0.258333,0.257421,,,203058.37*5D

2021-08-15T20:30:58.427Z,1629059458.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.519997 m, bearing: 47.548615 deg, deltaT: 4.512967 s, approachRate: -0.611572 m/s, LOS rate: 0.251324 deg/s, posRepo size: 4
2021-08-15T20:31:00.865Z,1629059460.865 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:01.180Z,1629059461.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:01.180Z,1629059461.180 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:01.181Z,1629059461.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:01.182Z,1629059461.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:01.589Z,1629059461.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00719,186,80,80,AD,FF
2021-08-15T20:31:01.589Z,1629059461.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:01.589Z,1629059461.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:01.591Z,1629059461.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:01.000Z,1629059462.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:02.425Z,1629059462.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,006F0,186,80,80,7F,FF
2021-08-15T20:31:02.426Z,1629059462.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:02.842Z,1629059462.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 47.238889 deg, deltaT: 4.438911 s, approachRate: -0.554190 m/s, LOS rate: -0.069775 deg/s, posRepo size: 4
2021-08-15T20:31:05.259Z,1629059465.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:05.625Z,1629059465.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:05.625Z,1629059465.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:05.625Z,1629059465.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:05.626Z,1629059465.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:06.039Z,1629059466.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,006F0,186,80,80,7F,FF
2021-08-15T20:31:06.039Z,1629059466.039 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:06.039Z,1629059466.039 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:06.041Z,1629059466.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:06.473Z,1629059466.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:06.838Z,1629059466.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,006C5,186,80,80,9F,FF
2021-08-15T20:31:06.838Z,1629059466.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:07.289Z,1629059467.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203107.26*5D

2021-08-15T20:31:07.312Z,1629059467.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 46.255223 deg, deltaT: 4.398546 s, approachRate: -0.586556 m/s, LOS rate: -0.223635 deg/s, posRepo size: 4
2021-08-15T20:31:09.702Z,1629059469.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:10.073Z,1629059470.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:10.073Z,1629059470.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:10.073Z,1629059470.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:10.074Z,1629059470.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:10.477Z,1629059470.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,006C5,186,80,80,9F,FF
2021-08-15T20:31:10.477Z,1629059470.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:10.477Z,1629059470.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:10.479Z,1629059470.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:10.890Z,1629059470.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:11.294Z,1629059471.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,0069B,186,80,80,B5,FF
2021-08-15T20:31:11.295Z,1629059471.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:11.721Z,1629059471.721 [Micromodem](INFO): Nmea in: $SNTTA,0.066228,,,,203111.70*4F

2021-08-15T20:31:11.814Z,1629059471.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 46.221543 deg, deltaT: 4.426698 s, approachRate: -0.569274 m/s, LOS rate: -0.007608 deg/s, posRepo size: 4
2021-08-15T20:31:13.820Z,1629059473.820 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:14.117Z,1629059474.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:14.117Z,1629059474.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:14.118Z,1629059474.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:14.118Z,1629059474.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:14.521Z,1629059474.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,0069B,186,80,80,B5,FF
2021-08-15T20:31:14.521Z,1629059474.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:14.521Z,1629059474.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:14.523Z,1629059474.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:14.929Z,1629059474.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:15.326Z,1629059475.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,0067C,186,80,80,88,FF
2021-08-15T20:31:15.326Z,1629059475.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:15.809Z,1629059475.809 [Micromodem](INFO): Nmea in: $SNTTA,0.085055,,,,203115.74*4A

2021-08-15T20:31:15.824Z,1629059475.824 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T20:31:15.882Z,1629059475.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.100002 m, bearing: 47.794221 deg, deltaT: 4.033226 s, approachRate: -0.461168 m/s, LOS rate: 0.389931 deg/s, posRepo size: 4
2021-08-15T20:31:18.217Z,1629059478.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:18.558Z,1629059478.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:18.558Z,1629059478.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:18.558Z,1629059478.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:18.559Z,1629059478.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:18.957Z,1629059478.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,0067C,186,80,80,88,FF
2021-08-15T20:31:18.957Z,1629059478.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:18.957Z,1629059478.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:18.959Z,1629059478.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:19.388Z,1629059479.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:19.776Z,1629059479.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,0064B,187,80,80,51,FF
2021-08-15T20:31:19.777Z,1629059479.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:20.205Z,1629059480.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203120.18*55

2021-08-15T20:31:20.243Z,1629059480.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 47.314886 deg, deltaT: 4.535599 s, approachRate: -0.648207 m/s, LOS rate: -0.105683 deg/s, posRepo size: 4
2021-08-15T20:31:22.643Z,1629059482.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:22.997Z,1629059482.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:22.997Z,1629059482.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:22.997Z,1629059482.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:22.998Z,1629059482.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:23.402Z,1629059483.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,0064B,187,80,80,51,FF
2021-08-15T20:31:23.402Z,1629059483.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:23.403Z,1629059483.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:23.409Z,1629059483.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:23.867Z,1629059483.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:24.209Z,1629059484.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,0061F,186,80,80,96,FF
2021-08-15T20:31:24.210Z,1629059484.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:24.654Z,1629059484.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203124.63*5D

2021-08-15T20:31:24.691Z,1629059484.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.520000 m, bearing: 47.669584 deg, deltaT: 4.398227 s, approachRate: -0.600241 m/s, LOS rate: 0.080646 deg/s, posRepo size: 4
2021-08-15T20:31:27.066Z,1629059487.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:27.477Z,1629059487.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:27.477Z,1629059487.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:27.477Z,1629059487.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:27.478Z,1629059487.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:27.861Z,1629059487.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,0061F,186,80,80,96,FF
2021-08-15T20:31:27.861Z,1629059487.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:27.861Z,1629059487.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:27.863Z,1629059487.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:28.267Z,1629059488.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:28.661Z,1629059488.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,005F1,186,80,80,89,FF
2021-08-15T20:31:28.661Z,1629059488.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:29.093Z,1629059489.093 [Micromodem](INFO): Nmea in: $SNTTA,0.046140,,,,203129.08*44

2021-08-15T20:31:29.133Z,1629059489.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.759995 m, bearing: 46.112981 deg, deltaT: 4.436734 s, approachRate: -0.622081 m/s, LOS rate: -0.350844 deg/s, posRepo size: 4
2021-08-15T20:31:31.549Z,1629059491.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:31.889Z,1629059491.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:31.889Z,1629059491.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:31.889Z,1629059491.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:31.890Z,1629059491.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:32.298Z,1629059492.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,005F1,186,80,80,89,FF
2021-08-15T20:31:32.299Z,1629059492.299 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:32.299Z,1629059492.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:32.301Z,1629059492.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:32.696Z,1629059492.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:33.105Z,1629059493.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,005C6,186,80,80,70,FF
2021-08-15T20:31:33.105Z,1629059493.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:33.541Z,1629059493.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203133.52*59

2021-08-15T20:31:33.567Z,1629059493.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.180000 m, bearing: 47.981935 deg, deltaT: 4.414320 s, approachRate: -0.584460 m/s, LOS rate: 0.423385 deg/s, posRepo size: 4
2021-08-15T20:31:35.980Z,1629059495.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:36.351Z,1629059496.351 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:36.351Z,1629059496.351 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:36.351Z,1629059496.351 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:36.364Z,1629059496.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:36.733Z,1629059496.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,005C6,186,80,80,70,FF
2021-08-15T20:31:36.733Z,1629059496.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:36.733Z,1629059496.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:36.735Z,1629059496.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:37.163Z,1629059497.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:37.541Z,1629059497.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,005A3,186,80,80,78,FF
2021-08-15T20:31:37.541Z,1629059497.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:38.011Z,1629059498.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.079998 m, bearing: 48.392478 deg, deltaT: 4.494285 s, approachRate: -0.467261 m/s, LOS rate: 0.091348 deg/s, posRepo size: 4
2021-08-15T20:31:40.446Z,1629059500.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:40.801Z,1629059500.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:40.801Z,1629059500.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:40.801Z,1629059500.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:40.802Z,1629059500.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:41.185Z,1629059501.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,005A3,186,80,80,78,FF
2021-08-15T20:31:41.185Z,1629059501.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:41.185Z,1629059501.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:41.187Z,1629059501.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:41.597Z,1629059501.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:41.993Z,1629059501.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00573,186,80,80,9B,FF
2021-08-15T20:31:41.993Z,1629059501.993 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:42.449Z,1629059502.449 [Micromodem](INFO): Nmea in: $SNTTA,0.068912,,,,203142.41*47

2021-08-15T20:31:42.495Z,1629059502.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 47.347729 deg, deltaT: 4.440384 s, approachRate: -0.648593 m/s, LOS rate: -0.235284 deg/s, posRepo size: 4
2021-08-15T20:31:43.641Z,1629059503.641 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:31:44.844Z,1629059504.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:45.226Z,1629059505.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:45.226Z,1629059505.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:45.226Z,1629059505.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:45.228Z,1629059505.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:45.629Z,1629059505.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00573,186,80,80,9B,FF
2021-08-15T20:31:45.629Z,1629059505.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:45.629Z,1629059505.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:45.631Z,1629059505.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:46.064Z,1629059506.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:46.083Z,1629059506.083 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T20:31:46.485Z,1629059506.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00549,187,80,80,7E,FF
2021-08-15T20:31:46.486Z,1629059506.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:46.897Z,1629059506.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203146.85*51

2021-08-15T20:31:46.920Z,1629059506.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.680000 m, bearing: 47.777747 deg, deltaT: 4.448142 s, approachRate: -0.566528 m/s, LOS rate: 0.096674 deg/s, posRepo size: 4
2021-08-15T20:31:49.321Z,1629059509.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:49.681Z,1629059509.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:49.681Z,1629059509.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:49.681Z,1629059509.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:49.682Z,1629059509.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:50.097Z,1629059510.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00549,187,80,80,7E,FF
2021-08-15T20:31:50.097Z,1629059510.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:50.097Z,1629059510.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:50.099Z,1629059510.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:50.502Z,1629059510.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:50.898Z,1629059510.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0051F,186,80,80,75,FF
2021-08-15T20:31:50.899Z,1629059510.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:51.353Z,1629059511.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203151.32*5B

2021-08-15T20:31:51.372Z,1629059511.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 46.412174 deg, deltaT: 4.446738 s, approachRate: -0.566709 m/s, LOS rate: -0.307096 deg/s, posRepo size: 4
2021-08-15T20:31:53.824Z,1629059513.824 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:54.146Z,1629059514.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:54.147Z,1629059514.147 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:54.147Z,1629059514.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:54.148Z,1629059514.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:54.539Z,1629059514.539 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0051F,186,80,80,75,FF
2021-08-15T20:31:54.539Z,1629059514.539 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:54.539Z,1629059514.539 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:54.541Z,1629059514.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:54.962Z,1629059514.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:55.341Z,1629059515.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,004F4,186,80,80,7E,FF
2021-08-15T20:31:55.341Z,1629059515.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:55.837Z,1629059515.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203155.76*5F

2021-08-15T20:31:55.843Z,1629059515.843 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:31:55.866Z,1629059515.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 47.658803 deg, deltaT: 4.430527 s, approachRate: -0.582323 m/s, LOS rate: 0.281373 deg/s, posRepo size: 4
2021-08-15T20:31:55.866Z,1629059515.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m.
2021-08-15T20:31:56.198Z,1629059516.198 [PowerOnly](INFO): Powering up loadControl
2021-08-15T20:31:56.233Z,1629059516.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:31:56.233Z,1629059516.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:31:56.233Z,1629059516.233 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:31:56.234Z,1629059516.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:31:56.234Z,1629059516.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:31:56.234Z,1629059516.234 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:31:56.645Z,1629059516.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:31:56.645Z,1629059516.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:31:56.645Z,1629059516.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:31:56.645Z,1629059516.645 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:31:58.258Z,1629059518.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:31:58.587Z,1629059518.587 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:31:58.587Z,1629059518.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:31:58.587Z,1629059518.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:31:58.608Z,1629059518.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:31:58.981Z,1629059518.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,004F4,186,80,80,7E,FF
2021-08-15T20:31:58.981Z,1629059518.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:31:58.981Z,1629059518.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:31:58.983Z,1629059518.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:31:59.397Z,1629059519.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:31:59.820Z,1629059519.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,004D0,186,80,80,50,FF
2021-08-15T20:31:59.821Z,1629059519.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:31:59.936Z,1629059519.936 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:00.305Z,1629059520.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203200.20*5F

2021-08-15T20:32:00.347Z,1629059520.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 47.807356 deg, deltaT: 4.544483 s, approachRate: -0.475302 m/s, LOS rate: 0.032689 deg/s, posRepo size: 4
2021-08-15T20:32:00.348Z,1629059520.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.42 m.
2021-08-15T20:32:02.662Z,1629059522.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:03.025Z,1629059523.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:03.025Z,1629059523.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:03.025Z,1629059523.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:03.026Z,1629059523.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:03.437Z,1629059523.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,004D0,186,80,80,50,FF
2021-08-15T20:32:03.437Z,1629059523.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:03.437Z,1629059523.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:03.439Z,1629059523.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:03.864Z,1629059523.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:04.245Z,1629059524.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,004AA,186,80,80,6C,FF
2021-08-15T20:32:04.245Z,1629059524.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:04.293Z,1629059524.293 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:04.661Z,1629059524.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203204.66*59

2021-08-15T20:32:04.707Z,1629059524.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.139996 m, bearing: 47.910307 deg, deltaT: 4.356222 s, approachRate: -0.523390 m/s, LOS rate: 0.023633 deg/s, posRepo size: 4
2021-08-15T20:32:04.712Z,1629059524.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.14 m.
2021-08-15T20:32:05.918Z,1629059525.918 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T20:32:07.081Z,1629059527.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:07.485Z,1629059527.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:07.485Z,1629059527.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:07.485Z,1629059527.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:07.486Z,1629059527.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:07.873Z,1629059527.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,004AA,186,80,80,6C,FF
2021-08-15T20:32:07.873Z,1629059527.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:07.874Z,1629059527.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:07.875Z,1629059527.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:08.278Z,1629059528.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:08.682Z,1629059528.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,0047B,186,80,80,75,FF
2021-08-15T20:32:08.682Z,1629059528.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:08.714Z,1629059528.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:09.113Z,1629059529.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203209.10*55

2021-08-15T20:32:09.136Z,1629059529.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 45.209087 deg, deltaT: 4.421281 s, approachRate: -0.637823 m/s, LOS rate: -0.610959 deg/s, posRepo size: 4
2021-08-15T20:32:09.136Z,1629059529.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.32 m.
2021-08-15T20:32:11.559Z,1629059531.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:11.905Z,1629059531.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:11.905Z,1629059531.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:11.905Z,1629059531.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:11.906Z,1629059531.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:12.317Z,1629059532.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,0047B,186,80,80,75,FF
2021-08-15T20:32:12.317Z,1629059532.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:12.318Z,1629059532.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:12.319Z,1629059532.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:12.716Z,1629059532.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:13.125Z,1629059533.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,079,000,00455,186,80,80,84,FF
2021-08-15T20:32:13.125Z,1629059533.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:13.147Z,1629059533.147 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:13.561Z,1629059533.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203213.54*5E

2021-08-15T20:32:13.607Z,1629059533.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 47.519508 deg, deltaT: 4.432826 s, approachRate: -0.514345 m/s, LOS rate: 0.521207 deg/s, posRepo size: 4
2021-08-15T20:32:13.607Z,1629059533.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.04 m.
2021-08-15T20:32:13.612Z,1629059533.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.04 m.
2021-08-15T20:32:13.616Z,1629059533.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T20:32:16.031Z,1629059536.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:16.345Z,1629059536.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:16.345Z,1629059536.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:16.345Z,1629059536.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:16.346Z,1629059536.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:16.750Z,1629059536.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
079,000,00455,186,80,80,84,FF
2021-08-15T20:32:16.750Z,1629059536.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:16.750Z,1629059536.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:16.751Z,1629059536.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:17.161Z,1629059537.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:17.570Z,1629059537.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0042D,184,80,80,54,FF
2021-08-15T20:32:17.570Z,1629059537.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:17.626Z,1629059537.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:17.995Z,1629059537.995 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203217.98*5A

2021-08-15T20:32:18.044Z,1629059538.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 47.248875 deg, deltaT: 4.479403 s, approachRate: -0.535786 m/s, LOS rate: -0.060417 deg/s, posRepo size: 4
2021-08-15T20:32:20.455Z,1629059540.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:20.817Z,1629059540.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:20.817Z,1629059540.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:20.817Z,1629059540.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:20.818Z,1629059540.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:21.197Z,1629059541.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0042D,184,80,80,54,FF
2021-08-15T20:32:21.197Z,1629059541.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:21.197Z,1629059541.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:21.199Z,1629059541.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:21.610Z,1629059541.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:22.013Z,1629059542.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,00405,184,80,80,B0,FF
2021-08-15T20:32:22.014Z,1629059542.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:22.055Z,1629059542.055 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:22.465Z,1629059542.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203222.42*5B

2021-08-15T20:32:22.515Z,1629059542.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 47.043310 deg, deltaT: 4.429665 s, approachRate: -0.541802 m/s, LOS rate: -0.046406 deg/s, posRepo size: 4
2021-08-15T20:32:24.855Z,1629059544.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:25.249Z,1629059545.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:25.249Z,1629059545.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:25.249Z,1629059545.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:25.250Z,1629059545.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:25.641Z,1629059545.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,00405,184,80,80,B0,FF
2021-08-15T20:32:25.641Z,1629059545.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:25.642Z,1629059545.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:25.643Z,1629059545.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:26.086Z,1629059546.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:26.490Z,1629059546.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,003DC,186,80,80,79,FF
2021-08-15T20:32:26.490Z,1629059546.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:26.521Z,1629059546.521 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:26.897Z,1629059546.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203226.87*56

2021-08-15T20:32:26.919Z,1629059546.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 45.079129 deg, deltaT: 4.464826 s, approachRate: -0.550973 m/s, LOS rate: -0.439923 deg/s, posRepo size: 4
2021-08-15T20:32:29.323Z,1629059549.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:29.685Z,1629059549.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:29.685Z,1629059549.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:29.685Z,1629059549.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:29.686Z,1629059549.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:30.097Z,1629059550.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,003DC,186,80,80,79,FF
2021-08-15T20:32:30.097Z,1629059550.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:30.097Z,1629059550.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:30.099Z,1629059550.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:30.493Z,1629059550.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:30.897Z,1629059550.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,003BD,185,80,80,55,FF
2021-08-15T20:32:30.898Z,1629059550.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:30.990Z,1629059550.990 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:31.341Z,1629059551.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203231.32*5E

2021-08-15T20:32:31.357Z,1629059551.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 45.632439 deg, deltaT: 4.469756 s, approachRate: -0.416130 m/s, LOS rate: 0.123790 deg/s, posRepo size: 4
2021-08-15T20:32:33.830Z,1629059553.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:34.129Z,1629059554.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:34.129Z,1629059554.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:34.129Z,1629059554.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:34.130Z,1629059554.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:34.530Z,1629059554.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,003BD,185,80,80,55,FF
2021-08-15T20:32:34.531Z,1629059554.531 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:34.531Z,1629059554.531 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:34.533Z,1629059554.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:34.934Z,1629059554.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:35.334Z,1629059555.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0038C,183,80,80,A4,FF
2021-08-15T20:32:35.334Z,1629059555.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:35.359Z,1629059555.359 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:35.820Z,1629059555.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203235.76*5A

2021-08-15T20:32:35.863Z,1629059555.863 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T20:32:35.904Z,1629059555.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.980001 m, bearing: 47.251197 deg, deltaT: 4.368470 s, approachRate: -0.673004 m/s, LOS rate: 0.370555 deg/s, posRepo size: 4
2021-08-15T20:32:37.888Z,1629059557.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:38.185Z,1629059558.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:38.185Z,1629059558.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:38.185Z,1629059558.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:38.186Z,1629059558.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:38.573Z,1629059558.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0038C,183,80,80,A4,FF
2021-08-15T20:32:38.573Z,1629059558.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:38.573Z,1629059558.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:38.575Z,1629059558.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:38.989Z,1629059558.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:39.385Z,1629059559.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00364,184,80,80,A4,FF
2021-08-15T20:32:39.386Z,1629059559.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:39.497Z,1629059559.497 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:39.853Z,1629059559.853 [Micromodem](INFO): Nmea in: $SNTTA,0.048904,,,,203239.80*40

2021-08-15T20:32:39.901Z,1629059559.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 46.177540 deg, deltaT: 4.138136 s, approachRate: -0.579972 m/s, LOS rate: -0.259454 deg/s, posRepo size: 4
2021-08-15T20:32:42.253Z,1629059562.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:42.613Z,1629059562.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:42.613Z,1629059562.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:42.613Z,1629059562.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:42.614Z,1629059562.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:43.029Z,1629059563.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00364,184,80,80,A4,FF
2021-08-15T20:32:43.029Z,1629059563.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:43.029Z,1629059563.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:43.031Z,1629059563.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:43.444Z,1629059563.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:43.861Z,1629059563.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00339,185,80,80,9D,FF
2021-08-15T20:32:43.861Z,1629059563.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:43.927Z,1629059563.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:44.258Z,1629059564.258 [Micromodem](INFO): Nmea in: $SNTTA,0.029207,,,,203244.26*49

2021-08-15T20:32:44.297Z,1629059564.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 48.490375 deg, deltaT: 4.434692 s, approachRate: -0.581777 m/s, LOS rate: 0.521532 deg/s, posRepo size: 4
2021-08-15T20:32:46.706Z,1629059566.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:47.069Z,1629059567.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:47.069Z,1629059567.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:47.070Z,1629059567.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:47.071Z,1629059567.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:47.477Z,1629059567.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00339,185,80,80,9D,FF
2021-08-15T20:32:47.477Z,1629059567.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:47.477Z,1629059567.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:47.479Z,1629059567.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:47.879Z,1629059567.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:48.277Z,1629059568.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00325,184,80,80,45,FF
2021-08-15T20:32:48.277Z,1629059568.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:48.298Z,1629059568.298 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:48.702Z,1629059568.702 [Micromodem](INFO): Nmea in: $SNTTA,0.033291,,,,203248.70*42

2021-08-15T20:32:48.761Z,1629059568.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 48.815328 deg, deltaT: 4.365789 s, approachRate: -0.274864 m/s, LOS rate: 0.074432 deg/s, posRepo size: 4
2021-08-15T20:32:51.146Z,1629059571.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:51.501Z,1629059571.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:51.501Z,1629059571.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:51.501Z,1629059571.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:51.502Z,1629059571.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:51.911Z,1629059571.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00325,184,80,80,45,FF
2021-08-15T20:32:51.911Z,1629059571.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:51.911Z,1629059571.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:51.913Z,1629059571.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:52.320Z,1629059572.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:52.717Z,1629059572.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,002EF,185,80,80,AD,FF
2021-08-15T20:32:52.717Z,1629059572.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:52.803Z,1629059572.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:53.153Z,1629059573.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203253.14*5E

2021-08-15T20:32:53.183Z,1629059573.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.559999 m, bearing: 49.322183 deg, deltaT: 4.505221 s, approachRate: -0.719166 m/s, LOS rate: 0.112504 deg/s, posRepo size: 4
2021-08-15T20:32:55.589Z,1629059575.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:32:55.949Z,1629059575.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:32:55.949Z,1629059575.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:32:55.949Z,1629059575.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:32:55.950Z,1629059575.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:32:56.023Z,1629059576.023 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:32:56.349Z,1629059576.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,002EF,185,80,80,AD,FF
2021-08-15T20:32:56.349Z,1629059576.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:32:56.349Z,1629059576.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:32:56.351Z,1629059576.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:32:56.761Z,1629059576.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:32:57.161Z,1629059577.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,002CC,184,80,80,BC,FF
2021-08-15T20:32:57.161Z,1629059577.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:32:57.182Z,1629059577.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:32:57.593Z,1629059577.593 [Micromodem](INFO): Nmea in: $SNTTA,0.007356,,,,203257.58*4B

2021-08-15T20:32:57.693Z,1629059577.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.460000 m, bearing: 53.864822 deg, deltaT: 4.378912 s, approachRate: -0.479571 m/s, LOS rate: 1.037390 deg/s, posRepo size: 4
2021-08-15T20:33:00.027Z,1629059580.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:00.391Z,1629059580.391 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:00.392Z,1629059580.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:00.393Z,1629059580.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:00.394Z,1629059580.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:00.801Z,1629059580.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,002CC,184,80,80,BC,FF
2021-08-15T20:33:00.801Z,1629059580.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:00.801Z,1629059580.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:00.803Z,1629059580.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:01.210Z,1629059581.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:01.605Z,1629059581.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,002B9,187,80,80,84,FF
2021-08-15T20:33:01.606Z,1629059581.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:01.687Z,1629059581.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:02.046Z,1629059582.046 [Micromodem](INFO): Nmea in: $SNTTA,0.026315,,,,203302.03*40

2021-08-15T20:33:02.079Z,1629059582.079 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T20:33:02.079Z,1629059582.079 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T20:33:02.080Z,1629059582.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T20:33:02.080Z,1629059582.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:33:02.080Z,1629059582.080 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T20:33:02.081Z,1629059582.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-08-15T20:33:02.081Z,1629059582.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T20:33:02.081Z,1629059582.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T20:33:02.081Z,1629059582.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T20:33:02.083Z,1629059582.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.319999 m, bearing: 79.902230 deg, deltaT: 4.505059 s, approachRate: -0.253049 m/s, LOS rate: 5.779593 deg/s, posRepo size: 4
2021-08-15T20:33:02.472Z,1629059582.472 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T203302: (41.552319, -70.708603)
2021-08-15T20:33:02.472Z,1629059582.472 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T20:33:02.473Z,1629059582.473 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T20:33:04.489Z,1629059584.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:04.833Z,1629059584.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:04.833Z,1629059584.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:04.833Z,1629059584.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:04.834Z,1629059584.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:05.245Z,1629059585.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,002B9,187,80,80,84,FF
2021-08-15T20:33:05.245Z,1629059585.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:05.246Z,1629059585.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:05.248Z,1629059585.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:05.640Z,1629059585.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:06.048Z,1629059586.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,002B7,186,80,80,D2,FF
2021-08-15T20:33:06.049Z,1629059586.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:06.089Z,1629059586.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:06.497Z,1629059586.497 [Micromodem](INFO): Nmea in: $SNTTA,0.006183,,,,203306.47*4B

2021-08-15T20:33:06.546Z,1629059586.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 68.160015 deg, deltaT: 4.401768 s, approachRate: -0.027262 m/s, LOS rate: -2.667613 deg/s, posRepo size: 4
2021-08-15T20:33:08.899Z,1629059588.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:09.281Z,1629059589.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:09.281Z,1629059589.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:09.281Z,1629059589.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:09.282Z,1629059589.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:09.693Z,1629059589.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,002B7,186,80,80,D2,FF
2021-08-15T20:33:09.693Z,1629059589.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:09.693Z,1629059589.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:09.695Z,1629059589.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:10.093Z,1629059590.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:10.486Z,1629059590.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,002CE,185,80,80,9A,FF
2021-08-15T20:33:10.486Z,1629059590.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:10.563Z,1629059590.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:10.945Z,1629059590.945 [Micromodem](INFO): Nmea in: $SNTTA,0.006735,,,,203310.92*4F

2021-08-15T20:33:10.964Z,1629059590.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 80.290096 deg, deltaT: 4.474199 s, approachRate: 0.308436 m/s, LOS rate: 2.711118 deg/s, posRepo size: 4
2021-08-15T20:33:13.352Z,1629059593.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:13.725Z,1629059593.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:13.725Z,1629059593.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:13.725Z,1629059593.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:13.726Z,1629059593.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:14.133Z,1629059594.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,002CE,185,80,80,9A,FF
2021-08-15T20:33:14.133Z,1629059594.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:14.133Z,1629059594.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:14.135Z,1629059594.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:14.532Z,1629059594.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:14.551Z,1629059594.551 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T20:33:14.929Z,1629059594.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,00303,189,80,80,3F,FF
2021-08-15T20:33:14.930Z,1629059594.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:14.970Z,1629059594.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:15.377Z,1629059595.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203315.36*5D

2021-08-15T20:33:15.451Z,1629059595.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.759999 m, bearing: 47.765483 deg, deltaT: 4.407044 s, approachRate: 0.721572 m/s, LOS rate: -7.380142 deg/s, posRepo size: 4
2021-08-15T20:33:17.852Z,1629059597.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:18.169Z,1629059598.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:18.169Z,1629059598.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:18.169Z,1629059598.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:18.170Z,1629059598.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:18.575Z,1629059598.575 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,00303,189,80,80,3F,FF
2021-08-15T20:33:18.575Z,1629059598.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:18.575Z,1629059598.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:18.577Z,1629059598.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:18.977Z,1629059598.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:19.381Z,1629059599.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00335,183,80,80,90,FF
2021-08-15T20:33:19.382Z,1629059599.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:19.463Z,1629059599.463 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:19.845Z,1629059599.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203319.80*5C

2021-08-15T20:33:19.881Z,1629059599.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 83.905090 deg, deltaT: 4.492741 s, approachRate: 0.667743 m/s, LOS rate: 8.043999 deg/s, posRepo size: 4
2021-08-15T20:33:20.609Z,1629059600.609 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:33:22.226Z,1629059602.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:22.609Z,1629059602.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:22.609Z,1629059602.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:22.609Z,1629059602.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:22.610Z,1629059602.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:23.013Z,1629059603.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00335,183,80,80,90,FF
2021-08-15T20:33:23.013Z,1629059603.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:23.013Z,1629059603.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:23.015Z,1629059603.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:23.441Z,1629059603.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:23.861Z,1629059603.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00358,186,80,80,50,FF
2021-08-15T20:33:23.861Z,1629059603.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:23.927Z,1629059603.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:24.274Z,1629059604.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203324.24*5C

2021-08-15T20:33:24.317Z,1629059604.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 84.762893 deg, deltaT: 4.464075 s, approachRate: 0.470423 m/s, LOS rate: 0.192157 deg/s, posRepo size: 4
2021-08-15T20:33:24.317Z,1629059604.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.86 m. Rolling out.
2021-08-15T20:33:24.317Z,1629059604.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T20:33:24.685Z,1629059604.685 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T20:33:24.685Z,1629059604.685 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:33:24.686Z,1629059604.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T20:33:24.686Z,1629059604.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T20:33:24.686Z,1629059604.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T20:33:24.686Z,1629059604.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T20:33:24.686Z,1629059604.686 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T20:33:26.681Z,1629059606.681 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:27.053Z,1629059607.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:27.053Z,1629059607.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:27.053Z,1629059607.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:27.054Z,1629059607.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:27.473Z,1629059607.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00358,186,80,80,50,FF
2021-08-15T20:33:27.473Z,1629059607.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:27.473Z,1629059607.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:27.475Z,1629059607.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:27.888Z,1629059607.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:28.301Z,1629059608.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D9,000,00377,189,80,80,4C,FF
2021-08-15T20:33:28.302Z,1629059608.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:28.320Z,1629059608.320 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:28.729Z,1629059608.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203328.70*51

2021-08-15T20:33:28.783Z,1629059608.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 21.533683 deg, deltaT: 4.393829 s, approachRate: 0.423321 m/s, LOS rate: -14.390459 deg/s, posRepo size: 4
2021-08-15T20:33:30.738Z,1629059610.738 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:33:31.134Z,1629059611.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:31.522Z,1629059611.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:31.522Z,1629059611.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:31.522Z,1629059611.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:31.523Z,1629059611.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:31.928Z,1629059611.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D9,000,00377,189,80,80,4C,FF
2021-08-15T20:33:31.929Z,1629059611.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:31.929Z,1629059611.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:31.930Z,1629059611.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:32.332Z,1629059612.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:32.737Z,1629059612.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,00381,186,80,80,72,FF
2021-08-15T20:33:32.738Z,1629059612.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:32.791Z,1629059612.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:33.178Z,1629059613.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203333.16*5B

2021-08-15T20:33:33.199Z,1629059613.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 101.828060 deg, deltaT: 4.470111 s, approachRate: 0.134225 m/s, LOS rate: 17.962503 deg/s, posRepo size: 4
2021-08-15T20:33:35.601Z,1629059615.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:35.969Z,1629059615.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:35.969Z,1629059615.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:35.969Z,1629059615.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:35.970Z,1629059615.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:36.369Z,1629059616.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,00381,186,80,80,72,FF
2021-08-15T20:33:36.369Z,1629059616.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:36.369Z,1629059616.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:36.371Z,1629059616.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:36.805Z,1629059616.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:37.177Z,1629059617.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DA,000,00391,186,80,80,8C,FF
2021-08-15T20:33:37.178Z,1629059617.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:37.196Z,1629059617.196 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:37.623Z,1629059617.623 [Micromodem](INFO): Nmea in: $SNTTA,0.060729,,,,203337.60*4A

2021-08-15T20:33:37.649Z,1629059617.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 63.236118 deg, deltaT: 4.405881 s, approachRate: 0.217891 m/s, LOS rate: -8.759188 deg/s, posRepo size: 4
2021-08-15T20:33:40.059Z,1629059620.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:40.416Z,1629059620.416 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:40.417Z,1629059620.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:40.417Z,1629059620.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:40.419Z,1629059620.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:40.829Z,1629059620.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DA,000,00391,186,80,80,8C,FF
2021-08-15T20:33:40.829Z,1629059620.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:40.829Z,1629059620.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:40.831Z,1629059620.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:41.229Z,1629059621.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:41.637Z,1629059621.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,157,000,00399,187,80,80,84,FF
2021-08-15T20:33:41.638Z,1629059621.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:41.690Z,1629059621.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:42.033Z,1629059622.033 [Micromodem](INFO): Nmea in: $SNTTA,0.412423,0.412417,,,203342.06*5B

2021-08-15T20:33:42.101Z,1629059622.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.759998 m, bearing: 71.378448 deg, deltaT: 4.493862 s, approachRate: 0.106812 m/s, LOS rate: 1.811878 deg/s, posRepo size: 4
2021-08-15T20:33:44.508Z,1629059624.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:44.861Z,1629059624.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:44.861Z,1629059624.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:44.861Z,1629059624.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:44.862Z,1629059624.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:45.266Z,1629059625.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
157,000,00399,187,80,80,84,FF
2021-08-15T20:33:45.266Z,1629059625.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:45.266Z,1629059625.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:45.269Z,1629059625.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:45.666Z,1629059625.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:46.069Z,1629059626.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,003A1,186,80,80,53,FF
2021-08-15T20:33:46.070Z,1629059626.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:46.073Z,1629059626.073 [Micromodem](INFO): Nmea in: $SNTTA,0.196277,0.196271,,,203346.49*55

2021-08-15T20:33:46.131Z,1629059626.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:46.540Z,1629059626.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 114.961345 deg, deltaT: 4.449358 s, approachRate: 0.107881 m/s, LOS rate: 9.795323 deg/s, posRepo size: 4
2021-08-15T20:33:48.939Z,1629059628.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:49.309Z,1629059629.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:49.309Z,1629059629.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:49.309Z,1629059629.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:49.310Z,1629059629.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:49.709Z,1629059629.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,003A1,186,80,80,53,FF
2021-08-15T20:33:49.709Z,1629059629.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:49.710Z,1629059629.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:49.756Z,1629059629.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:50.114Z,1629059630.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:50.530Z,1629059630.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,003A7,186,80,80,80,FF
2021-08-15T20:33:50.530Z,1629059630.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:50.594Z,1629059630.594 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:50.963Z,1629059630.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 70.952456 deg, deltaT: 4.454104 s, approachRate: 0.080824 m/s, LOS rate: -9.880526 deg/s, posRepo size: 4
2021-08-15T20:33:51.334Z,1629059631.334 [Micromodem](INFO): Nmea in: $SNTTA,0.032911,,,,203351.05*4B

2021-08-15T20:33:53.366Z,1629059633.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:53.741Z,1629059633.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:53.741Z,1629059633.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:53.741Z,1629059633.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:53.742Z,1629059633.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:54.145Z,1629059634.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,003A7,186,80,80,80,FF
2021-08-15T20:33:54.145Z,1629059634.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:54.145Z,1629059634.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:54.147Z,1629059634.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:54.562Z,1629059634.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:54.953Z,1629059634.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,003A6,186,80,80,88,FF
2021-08-15T20:33:54.954Z,1629059634.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:54.996Z,1629059634.996 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:55.406Z,1629059635.406 [Micromodem](INFO): Nmea in: $SNTTA,0.035287,,,,203355.37*4D

2021-08-15T20:33:55.471Z,1629059635.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.540001 m, bearing: 68.382105 deg, deltaT: 4.402403 s, approachRate: -0.013628 m/s, LOS rate: -0.583852 deg/s, posRepo size: 4
2021-08-15T20:33:57.926Z,1629059637.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:33:58.197Z,1629059638.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:33:58.197Z,1629059638.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:33:58.197Z,1629059638.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:33:58.198Z,1629059638.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:33:58.593Z,1629059638.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,003A6,186,80,80,88,FF
2021-08-15T20:33:58.593Z,1629059638.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:33:58.593Z,1629059638.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:33:58.595Z,1629059638.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:33:59.009Z,1629059639.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:33:59.437Z,1629059639.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,003AF,186,80,80,55,FF
2021-08-15T20:33:59.437Z,1629059639.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:33:59.500Z,1629059639.500 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:33:59.865Z,1629059639.865 [Micromodem](INFO): Nmea in: $SNTTA,,0.492135,,,203359.82*4C

2021-08-15T20:33:59.915Z,1629059639.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 74.620875 deg, deltaT: 4.504097 s, approachRate: 0.119890 m/s, LOS rate: 1.385132 deg/s, posRepo size: 4
2021-08-15T20:34:02.265Z,1629059642.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:02.629Z,1629059642.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:02.629Z,1629059642.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:02.629Z,1629059642.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:02.630Z,1629059642.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:03.033Z,1629059643.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,003AF,186,80,80,55,FF
2021-08-15T20:34:03.033Z,1629059643.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:03.033Z,1629059643.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:03.035Z,1629059643.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:03.469Z,1629059643.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:03.883Z,1629059643.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,003B2,186,80,80,82,FF
2021-08-15T20:34:03.883Z,1629059643.883 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:03.889Z,1629059643.889 [Micromodem](INFO): Nmea in: $SNTTA,0.029633,0.312534,,,203404.26*54

2021-08-15T20:34:03.966Z,1629059643.966 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:04.303Z,1629059644.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 69.616225 deg, deltaT: 4.465892 s, approachRate: 0.040306 m/s, LOS rate: -1.120638 deg/s, posRepo size: 4
2021-08-15T20:34:06.736Z,1629059646.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:07.105Z,1629059647.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:07.105Z,1629059647.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:07.105Z,1629059647.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:07.106Z,1629059647.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:07.517Z,1629059647.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,003B2,186,80,80,82,FF
2021-08-15T20:34:07.517Z,1629059647.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:07.517Z,1629059647.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:07.519Z,1629059647.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:07.924Z,1629059647.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:08.321Z,1629059648.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,003A9,18A,80,80,55,FF
2021-08-15T20:34:08.321Z,1629059648.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:08.340Z,1629059648.340 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:08.753Z,1629059648.753 [Micromodem](INFO): Nmea in: $SNTTA,0.074222,,,,203408.74*4F

2021-08-15T20:34:08.793Z,1629059648.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 123.287128 deg, deltaT: 4.373778 s, approachRate: -0.123464 m/s, LOS rate: 12.271062 deg/s, posRepo size: 4
2021-08-15T20:34:11.175Z,1629059651.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:11.549Z,1629059651.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:11.549Z,1629059651.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:11.549Z,1629059651.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:11.550Z,1629059651.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:11.961Z,1629059651.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,003A9,18A,80,80,55,FF
2021-08-15T20:34:11.961Z,1629059651.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:11.961Z,1629059651.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:11.963Z,1629059651.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:12.418Z,1629059652.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:12.793Z,1629059652.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,003B4,186,80,80,58,FF
2021-08-15T20:34:12.794Z,1629059652.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:12.858Z,1629059652.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:13.221Z,1629059653.221 [Micromodem](INFO): Nmea in: $SNTTA,0.031175,,,,203413.19*4E

2021-08-15T20:34:13.274Z,1629059653.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 108.166332 deg, deltaT: 4.517955 s, approachRate: 0.146083 m/s, LOS rate: -3.346823 deg/s, posRepo size: 4
2021-08-15T20:34:15.669Z,1629059655.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:16.053Z,1629059656.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:16.053Z,1629059656.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:16.053Z,1629059656.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:16.054Z,1629059656.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:16.478Z,1629059656.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,003B4,186,80,80,58,FF
2021-08-15T20:34:16.478Z,1629059656.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:16.478Z,1629059656.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:16.479Z,1629059656.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:16.853Z,1629059656.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:17.264Z,1629059657.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,003B4,189,80,80,52,FF
2021-08-15T20:34:17.265Z,1629059657.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:17.287Z,1629059657.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:17.682Z,1629059657.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203417.70*5A

2021-08-15T20:34:17.718Z,1629059657.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 120.599489 deg, deltaT: 4.429039 s, approachRate: 0.000000 m/s, LOS rate: 2.807191 deg/s, posRepo size: 4
2021-08-15T20:34:20.136Z,1629059660.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:20.489Z,1629059660.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:20.489Z,1629059660.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:20.489Z,1629059660.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:20.490Z,1629059660.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:20.911Z,1629059660.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,003B4,189,80,80,52,FF
2021-08-15T20:34:20.913Z,1629059660.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:20.913Z,1629059660.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:20.918Z,1629059660.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:21.304Z,1629059661.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:21.701Z,1629059661.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,003B4,187,80,80,4F,FF
2021-08-15T20:34:21.702Z,1629059661.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:21.766Z,1629059661.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:22.122Z,1629059662.122 [Micromodem](INFO): Nmea in: $SNTTA,0.370364,0.370896,,,203422.14*58

2021-08-15T20:34:22.177Z,1629059662.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 116.842639 deg, deltaT: 4.479961 s, approachRate: 0.000000 m/s, LOS rate: -0.838590 deg/s, posRepo size: 4
2021-08-15T20:34:24.564Z,1629059664.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:24.937Z,1629059664.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:24.937Z,1629059664.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:24.937Z,1629059664.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:24.938Z,1629059664.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:25.337Z,1629059665.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,003B4,187,80,80,4F,FF
2021-08-15T20:34:25.338Z,1629059665.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:25.338Z,1629059665.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:25.339Z,1629059665.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:25.740Z,1629059665.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:26.146Z,1629059666.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,003B5,186,80,80,82,FF
2021-08-15T20:34:26.147Z,1629059666.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:26.150Z,1629059666.150 [Micromodem](INFO): Nmea in: $SNTTA,0.160720,0.161220,,,203426.56*58

2021-08-15T20:34:26.203Z,1629059666.203 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:26.583Z,1629059666.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 109.976475 deg, deltaT: 4.436132 s, approachRate: 0.013526 m/s, LOS rate: -1.547782 deg/s, posRepo size: 4
2021-08-15T20:34:28.997Z,1629059668.997 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:29.385Z,1629059669.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:29.385Z,1629059669.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:29.385Z,1629059669.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:29.386Z,1629059669.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:29.836Z,1629059669.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,003B5,186,80,80,82,FF
2021-08-15T20:34:29.837Z,1629059669.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:29.837Z,1629059669.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:29.838Z,1629059669.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:30.229Z,1629059670.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:30.633Z,1629059670.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,003B2,187,80,80,69,FF
2021-08-15T20:34:30.634Z,1629059670.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:30.662Z,1629059670.662 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:31.075Z,1629059671.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203431.06*5F

2021-08-15T20:34:31.108Z,1629059671.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 116.610522 deg, deltaT: 4.458970 s, approachRate: -0.040368 m/s, LOS rate: 1.487798 deg/s, posRepo size: 4
2021-08-15T20:34:33.517Z,1629059673.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:33.865Z,1629059673.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:33.865Z,1629059673.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:33.865Z,1629059673.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:33.866Z,1629059673.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:34.277Z,1629059674.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,003B2,187,80,80,69,FF
2021-08-15T20:34:34.277Z,1629059674.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:34.277Z,1629059674.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:34.279Z,1629059674.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:34.681Z,1629059674.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:35.077Z,1629059675.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,003B9,185,80,80,61,FF
2021-08-15T20:34:35.078Z,1629059675.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:35.096Z,1629059675.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:35.521Z,1629059675.521 [Micromodem](INFO): Nmea in: $SNTTA,0.059744,,,,203435.50*4D

2021-08-15T20:34:35.561Z,1629059675.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 113.539717 deg, deltaT: 4.433981 s, approachRate: 0.094723 m/s, LOS rate: -0.692562 deg/s, posRepo size: 4
2021-08-15T20:34:37.962Z,1629059677.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:38.309Z,1629059678.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:38.309Z,1629059678.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:38.309Z,1629059678.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:38.310Z,1629059678.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:38.721Z,1629059678.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,003B9,185,80,80,61,FF
2021-08-15T20:34:38.721Z,1629059678.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:38.722Z,1629059678.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:38.723Z,1629059678.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:39.120Z,1629059679.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:39.526Z,1629059679.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,003AE,187,80,80,4A,FF
2021-08-15T20:34:39.527Z,1629059679.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:39.530Z,1629059679.530 [Micromodem](INFO): Nmea in: $SNTTA,0.045853,0.119863,,,203439.95*56

2021-08-15T20:34:39.558Z,1629059679.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:39.982Z,1629059679.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 112.224980 deg, deltaT: 4.461612 s, approachRate: -0.147929 m/s, LOS rate: -0.294677 deg/s, posRepo size: 4
2021-08-15T20:34:42.367Z,1629059682.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:42.761Z,1629059682.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:42.761Z,1629059682.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:42.761Z,1629059682.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:42.762Z,1629059682.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:43.157Z,1629059683.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,003AE,187,80,80,4A,FF
2021-08-15T20:34:43.157Z,1629059683.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:43.157Z,1629059683.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:43.159Z,1629059683.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:43.569Z,1629059683.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:43.970Z,1629059683.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0039E,185,80,80,AD,FF
2021-08-15T20:34:43.971Z,1629059683.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:44.021Z,1629059684.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:44.415Z,1629059684.415 [Micromodem](INFO): Nmea in: $SNTTA,0.034815,,,,203444.38*45

2021-08-15T20:34:44.467Z,1629059684.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 113.041516 deg, deltaT: 4.463936 s, approachRate: -0.215057 m/s, LOS rate: 0.182918 deg/s, posRepo size: 4
2021-08-15T20:34:46.815Z,1629059686.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:47.197Z,1629059687.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:47.197Z,1629059687.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:47.197Z,1629059687.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:47.198Z,1629059687.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:47.610Z,1629059687.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0039E,185,80,80,AD,FF
2021-08-15T20:34:47.611Z,1629059687.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:47.611Z,1629059687.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:47.613Z,1629059687.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:48.013Z,1629059688.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:48.437Z,1629059688.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,003B4,187,80,80,94,FF
2021-08-15T20:34:48.437Z,1629059688.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:48.482Z,1629059688.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:48.849Z,1629059688.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203448.84*5B

2021-08-15T20:34:48.872Z,1629059688.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 114.750730 deg, deltaT: 4.460536 s, approachRate: 0.295928 m/s, LOS rate: 0.383186 deg/s, posRepo size: 4
2021-08-15T20:34:51.274Z,1629059691.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:51.660Z,1629059691.660 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:51.661Z,1629059691.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:51.661Z,1629059691.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:51.662Z,1629059691.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:52.057Z,1629059692.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,003B4,187,80,80,94,FF
2021-08-15T20:34:52.057Z,1629059692.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:52.058Z,1629059692.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:52.059Z,1629059692.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:52.488Z,1629059692.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:52.861Z,1629059692.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,003AB,187,80,80,80,FF
2021-08-15T20:34:52.862Z,1629059692.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:52.941Z,1629059692.941 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:53.298Z,1629059693.298 [Micromodem](INFO): Nmea in: $SNTTA,0.029872,,,,203453.28*4F

2021-08-15T20:34:53.315Z,1629059693.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 120.951053 deg, deltaT: 4.458548 s, approachRate: -0.121115 m/s, LOS rate: 1.390660 deg/s, posRepo size: 4
2021-08-15T20:34:55.726Z,1629059695.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:34:56.082Z,1629059696.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:34:56.082Z,1629059696.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:34:56.083Z,1629059696.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:34:56.084Z,1629059696.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:34:56.505Z,1629059696.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,003AB,187,80,80,80,FF
2021-08-15T20:34:56.505Z,1629059696.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:34:56.506Z,1629059696.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:34:56.507Z,1629059696.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:34:56.893Z,1629059696.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:34:57.306Z,1629059697.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,003A5,187,80,80,2D,FF
2021-08-15T20:34:57.307Z,1629059697.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:34:57.361Z,1629059697.361 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:34:57.721Z,1629059697.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203457.73*5D

2021-08-15T20:34:57.819Z,1629059697.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 118.463457 deg, deltaT: 4.420776 s, approachRate: -0.081434 m/s, LOS rate: -0.562706 deg/s, posRepo size: 4
2021-08-15T20:35:00.181Z,1629059700.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:00.530Z,1629059700.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:00.530Z,1629059700.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:00.530Z,1629059700.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:00.531Z,1629059700.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:00.943Z,1629059700.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,003A5,187,80,80,2D,FF
2021-08-15T20:35:00.943Z,1629059700.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:00.943Z,1629059700.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:00.954Z,1629059700.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:01.343Z,1629059701.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:01.737Z,1629059701.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,003B0,186,80,80,41,FF
2021-08-15T20:35:01.738Z,1629059701.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:01.842Z,1629059701.842 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:02.178Z,1629059702.178 [Micromodem](INFO): Nmea in: $SNTTA,0.038722,,,,203502.18*43

2021-08-15T20:35:02.234Z,1629059702.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 115.012599 deg, deltaT: 4.480546 s, approachRate: 0.147304 m/s, LOS rate: -0.770187 deg/s, posRepo size: 4
2021-08-15T20:35:04.649Z,1629059704.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:04.973Z,1629059704.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:04.973Z,1629059704.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:04.974Z,1629059704.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:04.974Z,1629059704.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:05.377Z,1629059705.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,003B0,186,80,80,41,FF
2021-08-15T20:35:05.377Z,1629059705.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:05.378Z,1629059705.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:05.379Z,1629059705.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:05.818Z,1629059705.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:06.189Z,1629059706.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,003AA,187,80,80,45,FF
2021-08-15T20:35:06.190Z,1629059706.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:06.265Z,1629059706.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:06.629Z,1629059706.629 [Micromodem](INFO): Nmea in: $SNTTA,,0.139129,,,203506.61*44

2021-08-15T20:35:06.666Z,1629059706.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.779997 m, bearing: 109.481191 deg, deltaT: 4.423604 s, approachRate: -0.081383 m/s, LOS rate: -1.250430 deg/s, posRepo size: 4
2021-08-15T20:35:09.045Z,1629059709.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:09.430Z,1629059709.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:09.430Z,1629059709.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:09.431Z,1629059709.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:09.431Z,1629059709.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:09.853Z,1629059709.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,003AA,187,80,80,45,FF
2021-08-15T20:35:09.853Z,1629059709.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:09.853Z,1629059709.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:09.855Z,1629059709.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:10.270Z,1629059710.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:10.653Z,1629059710.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,0039D,186,80,80,7C,FF
2021-08-15T20:35:10.653Z,1629059710.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:10.719Z,1629059710.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:11.102Z,1629059711.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203511.08*52

2021-08-15T20:35:11.170Z,1629059711.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 110.284886 deg, deltaT: 4.453066 s, approachRate: -0.175160 m/s, LOS rate: 0.180481 deg/s, posRepo size: 4
2021-08-15T20:35:13.513Z,1629059713.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:13.885Z,1629059713.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:13.885Z,1629059713.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:13.885Z,1629059713.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:13.886Z,1629059713.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:14.301Z,1629059714.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,0039D,186,80,80,7C,FF
2021-08-15T20:35:14.301Z,1629059714.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:14.301Z,1629059714.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:14.303Z,1629059714.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:14.705Z,1629059714.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:15.097Z,1629059715.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9F,000,00398,187,80,80,56,FF
2021-08-15T20:35:15.098Z,1629059715.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:15.116Z,1629059715.116 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:15.541Z,1629059715.541 [Micromodem](INFO): Nmea in: $SNTTA,0.033678,,,,203515.53*4F

2021-08-15T20:35:15.587Z,1629059715.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 112.787706 deg, deltaT: 4.397505 s, approachRate: -0.068220 m/s, LOS rate: 0.569146 deg/s, posRepo size: 4
2021-08-15T20:35:17.000Z,1629059718.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:18.333Z,1629059718.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:18.334Z,1629059718.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:18.334Z,1629059718.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:18.335Z,1629059718.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:18.745Z,1629059718.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9F,000,00398,187,80,80,56,FF
2021-08-15T20:35:18.745Z,1629059718.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:18.745Z,1629059718.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:18.747Z,1629059718.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:19.137Z,1629059719.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:19.550Z,1629059719.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00396,186,80,80,3C,FF
2021-08-15T20:35:19.550Z,1629059719.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:19.585Z,1629059719.585 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:19.957Z,1629059719.957 [Micromodem](INFO): Nmea in: $SNTTA,0.041025,0.454891,,,203519.97*5B

2021-08-15T20:35:20.026Z,1629059720.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 112.744976 deg, deltaT: 4.468568 s, approachRate: -0.026854 m/s, LOS rate: -0.009562 deg/s, posRepo size: 4
2021-08-15T20:35:22.459Z,1629059722.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:22.781Z,1629059722.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:22.781Z,1629059722.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:22.781Z,1629059722.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:22.782Z,1629059722.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:23.191Z,1629059723.191 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00396,186,80,80,3C,FF
2021-08-15T20:35:23.191Z,1629059723.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:23.192Z,1629059723.192 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:23.194Z,1629059723.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:23.585Z,1629059723.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:23.615Z,1629059723.615 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:35:23.989Z,1629059723.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0039B,187,80,80,24,FF
2021-08-15T20:35:23.990Z,1629059723.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:23.993Z,1629059723.993 [Micromodem](INFO): Nmea in: $SNTTA,0.082684,0.190984,,,203524.42*57

2021-08-15T20:35:24.063Z,1629059724.063 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:24.446Z,1629059724.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 101.414410 deg, deltaT: 4.477980 s, approachRate: 0.066994 m/s, LOS rate: -2.530285 deg/s, posRepo size: 4
2021-08-15T20:35:26.846Z,1629059726.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:27.217Z,1629059727.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:27.217Z,1629059727.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:27.217Z,1629059727.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:27.218Z,1629059727.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:27.621Z,1629059727.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0039B,187,80,80,24,FF
2021-08-15T20:35:27.621Z,1629059727.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:27.621Z,1629059727.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:27.623Z,1629059727.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:28.029Z,1629059728.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:28.457Z,1629059728.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0037E,187,80,80,7E,FF
2021-08-15T20:35:28.458Z,1629059728.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:28.506Z,1629059728.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:28.861Z,1629059728.861 [Micromodem](INFO): Nmea in: $SNTTA,0.033798,,,,203528.85*45

2021-08-15T20:35:28.883Z,1629059728.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.139999 m, bearing: 101.005001 deg, deltaT: 4.443244 s, approachRate: -0.391606 m/s, LOS rate: -0.092142 deg/s, posRepo size: 4
2021-08-15T20:35:31.301Z,1629059731.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:31.661Z,1629059731.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:31.661Z,1629059731.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:31.661Z,1629059731.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:31.662Z,1629059731.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:32.073Z,1629059732.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0037E,187,80,80,7E,FF
2021-08-15T20:35:32.073Z,1629059732.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:32.073Z,1629059732.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:32.075Z,1629059732.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:32.477Z,1629059732.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:32.873Z,1629059732.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00393,186,80,80,5A,FF
2021-08-15T20:35:32.873Z,1629059732.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:32.921Z,1629059732.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:33.321Z,1629059733.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203533.30*59

2021-08-15T20:35:33.343Z,1629059733.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 100.428841 deg, deltaT: 4.415048 s, approachRate: 0.285388 m/s, LOS rate: -0.130499 deg/s, posRepo size: 4
2021-08-15T20:35:35.737Z,1629059735.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:36.113Z,1629059736.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:36.113Z,1629059736.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:36.113Z,1629059736.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:36.114Z,1629059736.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:36.509Z,1629059736.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00393,186,80,80,5A,FF
2021-08-15T20:35:36.509Z,1629059736.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:36.510Z,1629059736.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:36.511Z,1629059736.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:36.926Z,1629059736.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:37.325Z,1629059737.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,00383,184,80,80,A3,FF
2021-08-15T20:35:37.326Z,1629059737.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:37.386Z,1629059737.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:37.765Z,1629059737.765 [Micromodem](INFO): Nmea in: $SNTTA,0.058673,,,,203537.74*4C

2021-08-15T20:35:37.840Z,1629059737.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 96.730491 deg, deltaT: 4.464625 s, approachRate: -0.215024 m/s, LOS rate: -0.828367 deg/s, posRepo size: 4
2021-08-15T20:35:40.209Z,1629059740.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:40.549Z,1629059740.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:40.549Z,1629059740.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:40.549Z,1629059740.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:40.550Z,1629059740.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:40.962Z,1629059740.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,00383,184,80,80,A3,FF
2021-08-15T20:35:40.963Z,1629059740.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:40.963Z,1629059740.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:40.991Z,1629059740.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:41.365Z,1629059741.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:41.788Z,1629059741.788 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,00374,185,80,80,7E,FF
2021-08-15T20:35:41.790Z,1629059741.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:41.877Z,1629059741.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:42.191Z,1629059742.191 [Micromodem](INFO): Nmea in: $SNTTA,0.042364,,,,203542.21*46

2021-08-15T20:35:42.224Z,1629059742.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 95.284042 deg, deltaT: 4.491910 s, approachRate: -0.200360 m/s, LOS rate: -0.322012 deg/s, posRepo size: 4
2021-08-15T20:35:44.627Z,1629059744.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:44.993Z,1629059744.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:44.993Z,1629059744.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:44.993Z,1629059744.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:44.994Z,1629059744.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:45.404Z,1629059745.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,00374,185,80,80,7E,FF
2021-08-15T20:35:45.405Z,1629059745.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:45.405Z,1629059745.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:45.411Z,1629059745.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:45.842Z,1629059745.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:45.869Z,1629059745.869 [Micromodem](INFO): Nmea in: 5A

2021-08-15T20:35:45.870Z,1629059745.870 [Micromodem](ERROR): Response from modem failed NMEA checksum: 5A
 expected 0
2021-08-15T20:35:46.205Z,1629059746.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,0037A,184,80,80,5E,FF
2021-08-15T20:35:46.205Z,1629059746.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:46.265Z,1629059746.265 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:46.663Z,1629059746.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 95.910370 deg, deltaT: 4.387614 s, approachRate: 0.082048 m/s, LOS rate: 0.142749 deg/s, posRepo size: 4
2021-08-15T20:35:49.058Z,1629059749.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:49.469Z,1629059749.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:49.469Z,1629059749.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:49.469Z,1629059749.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:49.470Z,1629059749.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:49.857Z,1629059749.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,0037A,184,80,80,5E,FF
2021-08-15T20:35:49.857Z,1629059749.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:49.857Z,1629059749.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:49.859Z,1629059749.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:50.267Z,1629059750.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:50.645Z,1629059750.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00371,184,80,80,7D,FF
2021-08-15T20:35:50.646Z,1629059750.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:50.675Z,1629059750.675 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:51.089Z,1629059751.089 [Micromodem](INFO): Nmea in: $SNTTA,0.025835,,,,203551.08*41

2021-08-15T20:35:51.123Z,1629059751.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.359997 m, bearing: 93.138720 deg, deltaT: 4.409885 s, approachRate: -0.122452 m/s, LOS rate: -0.628508 deg/s, posRepo size: 4
2021-08-15T20:35:53.545Z,1629059753.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:53.885Z,1629059753.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:53.885Z,1629059753.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:53.886Z,1629059753.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:53.887Z,1629059753.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:54.309Z,1629059754.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00371,184,80,80,7D,FF
2021-08-15T20:35:54.309Z,1629059754.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:54.309Z,1629059754.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:54.311Z,1629059754.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:54.702Z,1629059754.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:55.105Z,1629059755.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,00363,183,80,80,8B,FF
2021-08-15T20:35:55.105Z,1629059755.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:55.154Z,1629059755.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:55.517Z,1629059755.517 [Micromodem](INFO): Nmea in: $SNTTA,0.041959,,,,203555.54*45

2021-08-15T20:35:55.562Z,1629059755.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.520001 m, bearing: 91.594899 deg, deltaT: 4.479232 s, approachRate: -0.187531 m/s, LOS rate: -0.344662 deg/s, posRepo size: 4
2021-08-15T20:35:57.972Z,1629059757.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:35:58.338Z,1629059758.338 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:35:58.338Z,1629059758.338 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:35:58.338Z,1629059758.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:35:58.339Z,1629059758.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:35:58.741Z,1629059758.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,00363,183,80,80,8B,FF
2021-08-15T20:35:58.741Z,1629059758.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:35:58.741Z,1629059758.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:35:58.743Z,1629059758.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:35:59.143Z,1629059759.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:35:59.537Z,1629059759.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,0036A,186,80,80,64,FF
2021-08-15T20:35:59.537Z,1629059759.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:35:59.566Z,1629059759.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:35:59.985Z,1629059759.985 [Micromodem](INFO): Nmea in: $SNTTA,,0.089963,,,203559.97*4B

2021-08-15T20:36:00.031Z,1629059760.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 96.576573 deg, deltaT: 4.411799 s, approachRate: 0.095199 m/s, LOS rate: 1.129171 deg/s, posRepo size: 4
2021-08-15T20:36:02.435Z,1629059762.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:02.769Z,1629059762.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:02.769Z,1629059762.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:02.769Z,1629059762.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:02.770Z,1629059762.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:03.171Z,1629059763.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,0036A,186,80,80,64,FF
2021-08-15T20:36:03.187Z,1629059763.187 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:03.187Z,1629059763.187 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:03.190Z,1629059763.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:03.585Z,1629059763.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:03.982Z,1629059763.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00372,183,80,80,3F,FF
2021-08-15T20:36:03.983Z,1629059763.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:04.005Z,1629059764.005 [Micromodem](INFO): Nmea in: $SNTTA,0.040122,0.195578,,,203604.41*5A

2021-08-15T20:36:04.081Z,1629059764.081 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:04.466Z,1629059764.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 92.495337 deg, deltaT: 4.515481 s, approachRate: 0.106300 m/s, LOS rate: -0.903832 deg/s, posRepo size: 4
2021-08-15T20:36:06.830Z,1629059766.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:07.221Z,1629059767.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:07.222Z,1629059767.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:07.222Z,1629059767.222 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:07.223Z,1629059767.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:07.617Z,1629059767.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00372,183,80,80,3F,FF
2021-08-15T20:36:07.618Z,1629059767.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:07.618Z,1629059767.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:07.620Z,1629059767.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:08.040Z,1629059768.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:08.473Z,1629059768.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,00353,185,80,80,7B,FF
2021-08-15T20:36:08.474Z,1629059768.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:08.542Z,1629059768.542 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:08.882Z,1629059768.882 [Micromodem](INFO): Nmea in: $SNTTA,0.069280,,,,203608.84*46

2021-08-15T20:36:08.931Z,1629059768.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 94.227616 deg, deltaT: 4.460518 s, approachRate: -0.416992 m/s, LOS rate: 0.388358 deg/s, posRepo size: 4
2021-08-15T20:36:11.294Z,1629059771.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:11.669Z,1629059771.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:11.669Z,1629059771.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:11.669Z,1629059771.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:11.670Z,1629059771.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:12.073Z,1629059772.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,00353,185,80,80,7B,FF
2021-08-15T20:36:12.073Z,1629059772.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:12.073Z,1629059772.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:12.075Z,1629059772.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:12.488Z,1629059772.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:12.885Z,1629059772.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,0035C,184,80,80,4E,FF
2021-08-15T20:36:12.886Z,1629059772.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:12.904Z,1629059772.904 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:13.313Z,1629059773.313 [Micromodem](INFO): Nmea in: $SNTTA,0.042225,,,,203613.30*45

2021-08-15T20:36:13.354Z,1629059773.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 93.300227 deg, deltaT: 4.362420 s, approachRate: 0.123785 m/s, LOS rate: -0.212586 deg/s, posRepo size: 4
2021-08-15T20:36:15.817Z,1629059775.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:16.118Z,1629059776.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:16.118Z,1629059776.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:16.118Z,1629059776.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:16.119Z,1629059776.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:16.513Z,1629059776.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,0035C,184,80,80,4E,FF
2021-08-15T20:36:16.513Z,1629059776.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:16.514Z,1629059776.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:16.515Z,1629059776.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:16.929Z,1629059776.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:17.775Z,1629059777.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203617.74*5C

2021-08-15T20:36:18.604Z,1629059778.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:20.181Z,1629059780.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,4E,FF
2021-08-15T20:36:20.181Z,1629059780.181 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,4E,FF
2021-08-15T20:36:20.181Z,1629059780.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:36:21.452Z,1629059781.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:21.824Z,1629059781.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:21.824Z,1629059781.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:21.825Z,1629059781.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:21.826Z,1629059781.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:22.201Z,1629059782.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,4E,FF
2021-08-15T20:36:22.201Z,1629059782.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:22.201Z,1629059782.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:22.203Z,1629059782.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:22.604Z,1629059782.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:22.997Z,1629059782.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F71,000,00362,187,80,80,5C,FF
2021-08-15T20:36:22.998Z,1629059782.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:23.033Z,1629059783.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:23.449Z,1629059783.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203623.43*5F

2021-08-15T20:36:23.485Z,1629059783.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 98.514701 deg, deltaT: 10.128179 s, approachRate: 0.035544 m/s, LOS rate: 0.514848 deg/s, posRepo size: 4
2021-08-15T20:36:25.902Z,1629059785.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:26.233Z,1629059786.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:26.233Z,1629059786.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:26.233Z,1629059786.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:26.234Z,1629059786.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:26.642Z,1629059786.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F71,000,00362,187,80,80,5C,FF
2021-08-15T20:36:26.642Z,1629059786.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:26.642Z,1629059786.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:26.643Z,1629059786.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:27.048Z,1629059787.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:27.473Z,1629059787.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,0035D,185,80,80,76,FF
2021-08-15T20:36:27.473Z,1629059787.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:27.550Z,1629059787.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:27.889Z,1629059787.889 [Micromodem](INFO): Nmea in: $SNTTA,,0.468255,,,203627.87*45

2021-08-15T20:36:27.935Z,1629059787.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 90.350152 deg, deltaT: 4.517291 s, approachRate: -0.066411 m/s, LOS rate: -1.807399 deg/s, posRepo size: 4
2021-08-15T20:36:30.317Z,1629059790.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:30.687Z,1629059790.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:30.687Z,1629059790.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:30.687Z,1629059790.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:30.688Z,1629059790.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:31.089Z,1629059791.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,0035D,185,80,80,76,FF
2021-08-15T20:36:31.089Z,1629059791.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:31.089Z,1629059791.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:31.091Z,1629059791.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:31.501Z,1629059791.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:31.913Z,1629059791.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0034A,184,80,80,56,FF
2021-08-15T20:36:31.914Z,1629059791.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:31.917Z,1629059791.917 [Micromodem](INFO): Nmea in: $SNTTA,0.036060,0.281854,,,203632.32*58

2021-08-15T20:36:31.983Z,1629059791.983 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:32.335Z,1629059792.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 96.544048 deg, deltaT: 4.432809 s, approachRate: -0.257173 m/s, LOS rate: 1.397285 deg/s, posRepo size: 4
2021-08-15T20:36:34.354Z,1629059794.354 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T20:36:34.354Z,1629059794.354 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T20:36:34.354Z,1629059794.354 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T20:36:34.354Z,1629059794.354 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:36:34.355Z,1629059794.355 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T20:36:34.738Z,1629059794.738 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T181729/Courier0033.lzma.parts
2021-08-15T20:36:34.738Z,1629059794.738 [Micromodem](INFO): Packets left to send: 0
2021-08-15T20:36:34.787Z,1629059794.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:35.137Z,1629059795.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:35.137Z,1629059795.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:35.137Z,1629059795.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:35.138Z,1629059795.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:35.398Z,1629059795.398 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 395A1961240000005D00000400320000000000000000151D80030C5669C08C79984BA2D801A098978B88AA903B20DA4F9DB78DD1010430BB97F0EE81C2FDC479
2021-08-15T20:36:35.400Z,1629059795.400 [Micromodem](INFO): Outgoing frame #2, 5 bytes: 5CDA56C003
2021-08-15T20:36:35.402Z,1629059795.402 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T20:36:35.691Z,1629059795.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0034A,184,80,80,56,FF
2021-08-15T20:36:35.691Z,1629059795.691 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:35.692Z,1629059795.692 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:35.693Z,1629059795.693 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T20:36:35.694Z,1629059795.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:36.096Z,1629059796.096 [Micromodem](INFO): Nmea in: $CADRQ,203636,1,10,0,64,1*74

2021-08-15T20:36:36.096Z,1629059796.096 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203636,1,10,0,64,1*74

2021-08-15T20:36:36.489Z,1629059796.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00346,184,80,80,4A,FF
2021-08-15T20:36:36.490Z,1629059796.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:36.510Z,1629059796.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:36.791Z,1629059796.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:36.965Z,1629059796.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203636.92*57

2021-08-15T20:36:36.984Z,1629059796.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 92.249191 deg, deltaT: 4.808022 s, approachRate: -0.049917 m/s, LOS rate: -0.893269 deg/s, posRepo size: 4
2021-08-15T20:36:39.381Z,1629059799.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:39.784Z,1629059799.784 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:39.785Z,1629059799.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:39.785Z,1629059799.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:39.787Z,1629059799.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:40.165Z,1629059800.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00346,184,80,80,4A,FF
2021-08-15T20:36:40.165Z,1629059800.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:40.165Z,1629059800.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:40.167Z,1629059800.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:40.577Z,1629059800.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:40.981Z,1629059800.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00344,184,80,80,60,FF
2021-08-15T20:36:40.982Z,1629059800.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:41.266Z,1629059801.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:41.473Z,1629059801.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203641.39*56

2021-08-15T20:36:41.521Z,1629059801.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 96.874957 deg, deltaT: 4.475203 s, approachRate: -0.026813 m/s, LOS rate: 1.033644 deg/s, posRepo size: 4
2021-08-15T20:36:43.938Z,1629059803.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:44.242Z,1629059804.242 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:44.242Z,1629059804.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:44.242Z,1629059804.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:44.243Z,1629059804.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:44.641Z,1629059804.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00344,184,80,80,60,FF
2021-08-15T20:36:44.641Z,1629059804.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:44.641Z,1629059804.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:44.643Z,1629059804.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:45.060Z,1629059805.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:45.476Z,1629059805.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDB,000,0032C,185,80,80,55,FF
2021-08-15T20:36:45.477Z,1629059805.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:45.547Z,1629059805.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:45.869Z,1629059805.869 [Micromodem](INFO): Nmea in: $SNTTA,0.028719,0.466453,,,203645.87*54

2021-08-15T20:36:45.915Z,1629059805.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.220001 m, bearing: 95.972873 deg, deltaT: 4.282045 s, approachRate: -0.336288 m/s, LOS rate: -0.210667 deg/s, posRepo size: 4
2021-08-15T20:36:48.330Z,1629059808.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:48.709Z,1629059808.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:48.709Z,1629059808.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:48.709Z,1629059808.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:48.710Z,1629059808.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:49.122Z,1629059809.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDB,000,0032C,185,80,80,55,FF
2021-08-15T20:36:49.122Z,1629059809.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:49.122Z,1629059809.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:49.124Z,1629059809.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:49.521Z,1629059809.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:50.119Z,1629059810.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,0033E,186,80,80,6C,FF
2021-08-15T20:36:50.119Z,1629059810.119 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:50.139Z,1629059810.139 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:50.529Z,1629059810.529 [Micromodem](INFO): Nmea in: $SNTTA,0.041060,,,,203650.35*47

2021-08-15T20:36:50.570Z,1629059810.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.299998 m, bearing: 100.070010 deg, deltaT: 4.591212 s, approachRate: 0.235231 m/s, LOS rate: 0.892387 deg/s, posRepo size: 4
2021-08-15T20:36:52.969Z,1629059812.969 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:53.345Z,1629059813.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:53.345Z,1629059813.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:53.345Z,1629059813.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:53.346Z,1629059813.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:53.764Z,1629059813.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,0033E,186,80,80,6C,FF
2021-08-15T20:36:53.765Z,1629059813.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:53.765Z,1629059813.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:53.776Z,1629059813.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:54.317Z,1629059814.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:54.725Z,1629059814.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00324,183,80,80,A1,FF
2021-08-15T20:36:54.725Z,1629059814.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:54.755Z,1629059814.755 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:55.138Z,1629059815.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203655.00*59

2021-08-15T20:36:55.199Z,1629059815.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 95.935826 deg, deltaT: 4.615889 s, approachRate: -0.337963 m/s, LOS rate: -0.895642 deg/s, posRepo size: 4
2021-08-15T20:36:57.267Z,1629059817.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:36:57.605Z,1629059817.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:36:57.605Z,1629059817.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:36:57.605Z,1629059817.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:36:57.606Z,1629059817.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:36:58.013Z,1629059818.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00324,183,80,80,A1,FF
2021-08-15T20:36:58.013Z,1629059818.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:36:58.013Z,1629059818.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:36:58.015Z,1629059818.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:36:58.438Z,1629059818.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:36:58.821Z,1629059818.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD1,000,0032D,185,80,80,65,FF
2021-08-15T20:36:58.821Z,1629059818.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:36:58.841Z,1629059818.841 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:36:59.254Z,1629059819.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203659.24*53

2021-08-15T20:36:59.286Z,1629059819.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 98.611901 deg, deltaT: 4.085498 s, approachRate: 0.132175 m/s, LOS rate: 0.655018 deg/s, posRepo size: 4
2021-08-15T20:37:01.826Z,1629059821.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:02.101Z,1629059822.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:02.101Z,1629059822.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:02.101Z,1629059822.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:02.102Z,1629059822.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:02.501Z,1629059822.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD1,000,0032D,185,80,80,65,FF
2021-08-15T20:37:02.501Z,1629059822.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:02.502Z,1629059822.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:02.503Z,1629059822.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:03.099Z,1629059823.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0031D,185,80,80,65,FF
2021-08-15T20:37:03.100Z,1629059823.100 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:03.107Z,1629059823.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:03.179Z,1629059823.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:03.579Z,1629059823.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 96.318590 deg, deltaT: 4.338166 s, approachRate: -0.221292 m/s, LOS rate: -0.528636 deg/s, posRepo size: 4
2021-08-15T20:37:03.946Z,1629059823.946 [Micromodem](INFO): Nmea in: $SNTTA,0.038824,,,,203703.73*44

2021-08-15T20:37:05.565Z,1629059825.565 [Micromodem](INFO): Nmea in: $CAERR,203706,DATA_TIMEOUT,1*4E

2021-08-15T20:37:06.041Z,1629059826.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:06.354Z,1629059826.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:06.354Z,1629059826.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:06.354Z,1629059826.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:06.355Z,1629059826.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:06.765Z,1629059826.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0031D,185,80,80,65,FF
2021-08-15T20:37:06.765Z,1629059826.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:06.765Z,1629059826.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:06.767Z,1629059826.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:07.346Z,1629059827.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,009,000,0031D,185,80,80,65,FF
2021-08-15T20:37:07.346Z,1629059827.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:07.353Z,1629059827.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:07.448Z,1629059827.448 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:07.830Z,1629059827.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 96.527648 deg, deltaT: 4.269445 s, approachRate: 0.000000 m/s, LOS rate: 0.048966 deg/s, posRepo size: 4
2021-08-15T20:37:08.153Z,1629059828.153 [Micromodem](INFO): Nmea in: $SNTTA,0.038111,,,,203708.00*44

2021-08-15T20:37:10.258Z,1629059830.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:10.601Z,1629059830.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:10.601Z,1629059830.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:10.601Z,1629059830.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:10.602Z,1629059830.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:11.001Z,1629059831.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
009,000,0031D,185,80,80,65,FF
2021-08-15T20:37:11.001Z,1629059831.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:11.001Z,1629059831.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:11.003Z,1629059831.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:11.427Z,1629059831.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:11.845Z,1629059831.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00325,186,80,80,82,FF
2021-08-15T20:37:11.845Z,1629059831.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:11.932Z,1629059831.932 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:12.258Z,1629059832.258 [Micromodem](INFO): Nmea in: $SNTTA,0.064882,,,,203712.24*43

2021-08-15T20:37:12.291Z,1629059832.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.800001 m, bearing: 82.240628 deg, deltaT: 4.484080 s, approachRate: 0.107046 m/s, LOS rate: -3.186165 deg/s, posRepo size: 4
2021-08-15T20:37:14.856Z,1629059834.856 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:15.173Z,1629059835.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:15.173Z,1629059835.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:15.173Z,1629059835.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:15.174Z,1629059835.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:15.569Z,1629059835.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00325,186,80,80,82,FF
2021-08-15T20:37:15.570Z,1629059835.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:15.570Z,1629059835.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:15.571Z,1629059835.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:17.097Z,1629059837.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,0030A,186,80,80,74,FF
2021-08-15T20:37:17.097Z,1629059837.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:17.103Z,1629059837.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:17.160Z,1629059837.160 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:17.525Z,1629059837.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 80.912408 deg, deltaT: 5.227776 s, approachRate: -0.309883 m/s, LOS rate: -0.254070 deg/s, posRepo size: 4
2021-08-15T20:37:20.168Z,1629059840.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:20.314Z,1629059840.314 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:20.314Z,1629059840.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:20.314Z,1629059840.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:20.315Z,1629059840.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:20.717Z,1629059840.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,0030A,186,80,80,74,FF
2021-08-15T20:37:20.717Z,1629059840.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:20.718Z,1629059840.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:20.720Z,1629059840.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:21.173Z,1629059841.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:21.561Z,1629059841.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00305,18A,80,80,3C,FF
2021-08-15T20:37:21.562Z,1629059841.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:21.615Z,1629059841.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:21.973Z,1629059841.973 [Micromodem](INFO): Nmea in: $SNTTA,0.428816,0.428529,,,203721.95*56

2021-08-15T20:37:22.273Z,1629059842.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.880000 m, bearing: 61.799360 deg, deltaT: 4.454753 s, approachRate: -0.067344 m/s, LOS rate: -4.290484 deg/s, posRepo size: 4
2021-08-15T20:37:24.468Z,1629059844.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:24.821Z,1629059844.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:24.821Z,1629059844.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:24.821Z,1629059844.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:24.822Z,1629059844.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:25.230Z,1629059845.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00305,18A,80,80,3C,FF
2021-08-15T20:37:25.230Z,1629059845.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:25.230Z,1629059845.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:25.231Z,1629059845.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:25.649Z,1629059845.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:26.093Z,1629059846.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,002FE,187,80,80,54,FF
2021-08-15T20:37:26.094Z,1629059846.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:26.248Z,1629059846.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:26.489Z,1629059846.489 [Micromodem](INFO): Nmea in: $SNTTA,0.031921,,,,203726.46*48

2021-08-15T20:37:26.752Z,1629059846.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.460000 m, bearing: 104.415144 deg, deltaT: 4.637327 s, approachRate: -0.090569 m/s, LOS rate: 9.189730 deg/s, posRepo size: 4
2021-08-15T20:37:28.810Z,1629059848.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:28.965Z,1629059848.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:28.965Z,1629059848.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:28.965Z,1629059848.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:28.966Z,1629059848.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:29.365Z,1629059849.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,002FE,187,80,80,54,FF
2021-08-15T20:37:29.365Z,1629059849.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:29.365Z,1629059849.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:29.367Z,1629059849.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:29.817Z,1629059849.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:30.177Z,1629059850.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,002FC,183,80,80,6C,FF
2021-08-15T20:37:30.177Z,1629059850.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:30.236Z,1629059850.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:30.617Z,1629059850.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203730.60*5D

2021-08-15T20:37:30.673Z,1629059850.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.339999 m, bearing: 94.293787 deg, deltaT: 3.984204 s, approachRate: -0.030119 m/s, LOS rate: -2.540371 deg/s, posRepo size: 4
2021-08-15T20:37:33.247Z,1629059853.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:33.428Z,1629059853.428 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:33.428Z,1629059853.428 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:33.429Z,1629059853.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:33.430Z,1629059853.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:33.841Z,1629059853.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,002FC,183,80,80,6C,FF
2021-08-15T20:37:33.841Z,1629059853.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:33.841Z,1629059853.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:33.843Z,1629059853.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:34.223Z,1629059854.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:34.621Z,1629059854.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,0030C,186,80,80,43,FF
2021-08-15T20:37:34.621Z,1629059854.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:34.703Z,1629059854.703 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:35.035Z,1629059855.035 [Micromodem](INFO): Nmea in: $SNTTA,0.008207,,,,203735.07*4A

2021-08-15T20:37:35.314Z,1629059855.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 79.232462 deg, deltaT: 4.466311 s, approachRate: 0.214942 m/s, LOS rate: -3.372207 deg/s, posRepo size: 4
2021-08-15T20:37:37.530Z,1629059857.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:37.895Z,1629059857.895 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:37.895Z,1629059857.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:37.895Z,1629059857.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:37.896Z,1629059857.896 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:38.309Z,1629059858.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,0030C,186,80,80,43,FF
2021-08-15T20:37:38.309Z,1629059858.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:38.309Z,1629059858.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:38.311Z,1629059858.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:38.706Z,1629059858.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:39.112Z,1629059859.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,00309,186,80,80,63,FF
2021-08-15T20:37:39.112Z,1629059859.112 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:39.385Z,1629059859.385 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:39.601Z,1629059859.601 [Micromodem](INFO): Nmea in: $SNTTA,0.057740,,,,203739.54*4C

2021-08-15T20:37:39.626Z,1629059859.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 80.814798 deg, deltaT: 4.682981 s, approachRate: -0.038437 m/s, LOS rate: 0.337891 deg/s, posRepo size: 4
2021-08-15T20:37:40.797Z,1629059860.797 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:37:41.436Z,1629059861.436 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 395A1961240000005D00000400320000000000000000151D80030C5669C08C79984BA2D801A098978B88AA903B20DA4F9DB78DD1010430BB97F0EE81C2FDC479
2021-08-15T20:37:41.437Z,1629059861.437 [Micromodem](INFO): Outgoing frame #2, 5 bytes: 5CDA56C003
2021-08-15T20:37:41.437Z,1629059861.437 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T20:37:41.878Z,1629059861.878 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T20:37:41.915Z,1629059861.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:42.217Z,1629059862.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:42.217Z,1629059862.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:42.217Z,1629059862.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:42.218Z,1629059862.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:42.225Z,1629059862.225 [Micromodem](INFO): Nmea in: $CADRQ,203742,1,10,0,64,1*76

2021-08-15T20:37:42.227Z,1629059862.227 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961240000005D00000400320000000000000000151D80030C5669C08C79984BA2D801A098978B88AA903B20DA4F9DB78DD1010430BB97F0EE81C2FDC479*45

2021-08-15T20:37:42.613Z,1629059862.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,00309,186,80,80,63,FF
2021-08-15T20:37:42.613Z,1629059862.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:42.613Z,1629059862.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:42.615Z,1629059862.615 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T20:37:42.616Z,1629059862.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:43.019Z,1629059863.019 [Micromodem](INFO): Nmea in: $CADRQ,203743,1,10,0,64,2*74

2021-08-15T20:37:43.019Z,1629059863.019 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,203743,1,10,0,64,2*74

2021-08-15T20:37:43.434Z,1629059863.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,00307,186,80,80,80,FF
2021-08-15T20:37:43.435Z,1629059863.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:43.439Z,1629059863.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:43.514Z,1629059863.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:43.878Z,1629059863.878 [Micromodem](INFO): Nmea in: $SNTTA,0.027409,0.481449,,,203743.84*5F

2021-08-15T20:37:43.913Z,1629059863.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.999999 m, bearing: 82.280523 deg, deltaT: 4.128921 s, approachRate: -0.029063 m/s, LOS rate: 0.354990 deg/s, posRepo size: 4
2021-08-15T20:37:46.094Z,1629059866.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:46.465Z,1629059866.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:46.465Z,1629059866.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:46.465Z,1629059866.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:46.466Z,1629059866.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:46.857Z,1629059866.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,00307,186,80,80,80,FF
2021-08-15T20:37:46.857Z,1629059866.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:46.857Z,1629059866.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:46.859Z,1629059866.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:47.278Z,1629059867.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:47.673Z,1629059867.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC5,000,0031A,18A,80,80,38,FF
2021-08-15T20:37:47.674Z,1629059867.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:48.047Z,1629059868.047 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:48.246Z,1629059868.246 [Micromodem](INFO): Nmea in: $SNTTA,0.008808,0.397998,,,203748.09*50

2021-08-15T20:37:48.293Z,1629059868.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.139999 m, bearing: 132.485138 deg, deltaT: 4.532236 s, approachRate: 0.251532 m/s, LOS rate: 11.077229 deg/s, posRepo size: 4
2021-08-15T20:37:50.688Z,1629059870.688 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:51.030Z,1629059871.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:51.030Z,1629059871.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:51.031Z,1629059871.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:51.032Z,1629059871.032 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:51.478Z,1629059871.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC5,000,0031A,18A,80,80,38,FF
2021-08-15T20:37:51.478Z,1629059871.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:51.478Z,1629059871.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:51.479Z,1629059871.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:51.876Z,1629059871.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:52.354Z,1629059872.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,00304,188,80,80,B6,FF
2021-08-15T20:37:52.354Z,1629059872.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:52.382Z,1629059872.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:52.777Z,1629059872.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203752.71*59

2021-08-15T20:37:52.822Z,1629059872.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 62.911465 deg, deltaT: 4.335393 s, approachRate: -0.304471 m/s, LOS rate: -16.047835 deg/s, posRepo size: 4
2021-08-15T20:37:54.962Z,1629059874.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:55.321Z,1629059875.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:55.321Z,1629059875.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:55.321Z,1629059875.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:55.322Z,1629059875.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:37:55.726Z,1629059875.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,00304,188,80,80,B6,FF
2021-08-15T20:37:55.726Z,1629059875.726 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:37:55.727Z,1629059875.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:37:55.735Z,1629059875.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:37:56.141Z,1629059876.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:37:56.529Z,1629059876.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,002E8,189,80,80,C4,FF
2021-08-15T20:37:56.530Z,1629059876.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:37:56.562Z,1629059876.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:37:56.973Z,1629059876.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203756.96*54

2021-08-15T20:37:57.018Z,1629059877.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 60.691777 deg, deltaT: 4.179554 s, approachRate: -0.401957 m/s, LOS rate: -0.531083 deg/s, posRepo size: 4
2021-08-15T20:37:59.482Z,1629059879.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:37:59.861Z,1629059879.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:37:59.862Z,1629059879.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:37:59.862Z,1629059879.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:37:59.863Z,1629059879.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:00.225Z,1629059880.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,002E8,189,80,80,C4,FF
2021-08-15T20:38:00.226Z,1629059880.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:00.226Z,1629059880.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:00.227Z,1629059880.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:00.820Z,1629059880.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,002E8,189,80,80,C4,FF
2021-08-15T20:38:00.820Z,1629059880.820 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:00.827Z,1629059880.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:00.902Z,1629059880.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:01.264Z,1629059881.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 66.998412 deg, deltaT: 4.340102 s, approachRate: 0.000000 m/s, LOS rate: 1.453107 deg/s, posRepo size: 4
2021-08-15T20:38:01.633Z,1629059881.633 [Micromodem](INFO): Nmea in: $SNTTA,0.028706,,,,203801.46*41

2021-08-15T20:38:03.686Z,1629059883.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:04.045Z,1629059884.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:04.045Z,1629059884.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:04.046Z,1629059884.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:04.046Z,1629059884.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:04.469Z,1629059884.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,002E8,189,80,80,C4,FF
2021-08-15T20:38:04.470Z,1629059884.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:04.470Z,1629059884.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:04.474Z,1629059884.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:05.050Z,1629059885.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E6,000,002E8,189,80,80,C4,FF
2021-08-15T20:38:05.050Z,1629059885.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:05.084Z,1629059885.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:05.120Z,1629059885.120 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:05.517Z,1629059885.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 65.040005 deg, deltaT: 4.218295 s, approachRate: 0.000000 m/s, LOS rate: -0.464265 deg/s, posRepo size: 4
2021-08-15T20:38:05.873Z,1629059885.873 [Micromodem](INFO): Nmea in: $SNTTA,0.007729,,,,203805.70*40

2021-08-15T20:38:08.009Z,1629059888.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:08.349Z,1629059888.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:08.349Z,1629059888.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:08.349Z,1629059888.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:08.350Z,1629059888.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:08.769Z,1629059888.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E6,000,002E8,189,80,80,C4,FF
2021-08-15T20:38:08.769Z,1629059888.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:08.769Z,1629059888.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:08.771Z,1629059888.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:09.165Z,1629059889.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:09.561Z,1629059889.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,002E5,189,80,80,BC,FF
2021-08-15T20:38:09.562Z,1629059889.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:09.591Z,1629059889.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:09.997Z,1629059889.997 [Micromodem](INFO): Nmea in: $SNTTA,0.141140,,,,203810.00*49

2021-08-15T20:38:10.043Z,1629059890.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.960000 m, bearing: 56.558235 deg, deltaT: 4.471462 s, approachRate: -0.040255 m/s, LOS rate: -1.896867 deg/s, posRepo size: 4
2021-08-15T20:38:12.191Z,1629059892.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:12.505Z,1629059892.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:12.505Z,1629059892.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:12.505Z,1629059892.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:12.506Z,1629059892.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:12.513Z,1629059892.513 [Micromodem](INFO): Nmea in: $CAERR,203813,DATA_TIMEOUT,2*46

2021-08-15T20:38:12.913Z,1629059892.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,002E5,189,80,80,BC,FF
2021-08-15T20:38:12.913Z,1629059892.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:12.913Z,1629059892.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:12.915Z,1629059892.915 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T20:38:12.915Z,1629059892.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:14.229Z,1629059894.229 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T20:38:14.230Z,1629059894.230 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-15T20:38:14.623Z,1629059894.623 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,203813.496632,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*55

2021-08-15T20:38:14.623Z,1629059894.623 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,203813.496632,3,0,200,4000,14500,1,1,10,1,2,1,3,64,14500*55

2021-08-15T20:38:15.076Z,1629059895.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:16.240Z,1629059896.240 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T20:38:16.653Z,1629059896.653 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815203816.310884,06,32767,45,0118,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,24.0,4.85,14,-1.85,-01,0.10,49,14500,4000*6F

2021-08-15T20:38:16.653Z,1629059896.653 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815203816.310884,06,32767,45,0118,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,24.0,4.85,14,-1.85,-01,0.10,49,14500,4000*6F

2021-08-15T20:38:17.595Z,1629059897.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:18.780Z,1629059898.780 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.273686
2021-08-15T20:38:20.137Z,1629059900.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:20.484Z,1629059900.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:20.485Z,1629059900.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:20.485Z,1629059900.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:20.486Z,1629059900.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:20.901Z,1629059900.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,002E5,189,80,80,BC,FF
2021-08-15T20:38:20.901Z,1629059900.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:20.901Z,1629059900.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:22.918Z,1629059902.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:24.246Z,1629059904.246 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:24.644Z,1629059904.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:25.049Z,1629059905.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,002E9,186,80,80,6E,FF
2021-08-15T20:38:25.050Z,1629059905.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:25.110Z,1629059905.110 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:25.501Z,1629059905.501 [Micromodem](INFO): Nmea in: $SNTTA,0.032092,,,,203825.47*47

2021-08-15T20:38:25.558Z,1629059905.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.199999 m, bearing: 69.102888 deg, deltaT: 15.518346 s, approachRate: 0.015465 m/s, LOS rate: 0.808376 deg/s, posRepo size: 4
2021-08-15T20:38:27.705Z,1629059907.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:28.098Z,1629059908.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:28.099Z,1629059908.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:28.099Z,1629059908.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:28.100Z,1629059908.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:28.474Z,1629059908.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,002E9,186,80,80,6E,FF
2021-08-15T20:38:28.474Z,1629059908.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:28.474Z,1629059908.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:28.475Z,1629059908.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:28.906Z,1629059908.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:29.297Z,1629059909.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CEB,000,002EC,188,80,80,92,FF
2021-08-15T20:38:29.298Z,1629059909.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:29.317Z,1629059909.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:29.733Z,1629059909.733 [Micromodem](INFO): Nmea in: $SNTTA,0.025079,,,,203829.70*4C

2021-08-15T20:38:29.836Z,1629059909.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.380000 m, bearing: 127.751011 deg, deltaT: 4.206830 s, approachRate: 0.042788 m/s, LOS rate: 13.941167 deg/s, posRepo size: 4
2021-08-15T20:38:31.845Z,1629059911.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:32.163Z,1629059912.163 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:32.163Z,1629059912.163 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:32.163Z,1629059912.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:32.180Z,1629059912.180 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:32.633Z,1629059912.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CEB,000,002EC,188,80,80,92,FF
2021-08-15T20:38:32.633Z,1629059912.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:32.634Z,1629059912.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:32.635Z,1629059912.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:33.033Z,1629059913.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:33.477Z,1629059913.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,002ED,189,80,80,84,FF
2021-08-15T20:38:33.477Z,1629059913.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:33.562Z,1629059913.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:33.881Z,1629059913.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203833.86*59

2021-08-15T20:38:33.927Z,1629059913.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 131.382391 deg, deltaT: 4.245053 s, approachRate: 0.014134 m/s, LOS rate: 0.855438 deg/s, posRepo size: 4
2021-08-15T20:38:36.317Z,1629059916.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:36.677Z,1629059916.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:36.677Z,1629059916.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:36.677Z,1629059916.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:36.678Z,1629059916.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:37.149Z,1629059917.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,002ED,189,80,80,84,FF
2021-08-15T20:38:37.149Z,1629059917.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:37.150Z,1629059917.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:37.151Z,1629059917.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:37.556Z,1629059917.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:37.961Z,1629059917.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00308,189,80,80,83,FF
2021-08-15T20:38:37.961Z,1629059917.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:38.071Z,1629059918.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:38.401Z,1629059918.401 [Micromodem](INFO): Nmea in: $SNTTA,0.036345,,,,203838.38*4E

2021-08-15T20:38:38.473Z,1629059918.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 24.121967 deg, deltaT: 4.509970 s, approachRate: 0.359204 m/s, LOS rate: -23.782958 deg/s, posRepo size: 4
2021-08-15T20:38:40.906Z,1629059920.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:41.301Z,1629059921.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:41.301Z,1629059921.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:41.301Z,1629059921.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:41.302Z,1629059921.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:41.701Z,1629059921.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00308,189,80,80,83,FF
2021-08-15T20:38:41.702Z,1629059921.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:41.702Z,1629059921.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:41.703Z,1629059921.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:42.108Z,1629059922.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:42.501Z,1629059922.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002F0,189,80,80,90,FF
2021-08-15T20:38:42.501Z,1629059922.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:42.575Z,1629059922.575 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:42.933Z,1629059922.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203842.93*5B

2021-08-15T20:38:43.226Z,1629059923.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.619999 m, bearing: 24.487540 deg, deltaT: 4.503275 s, approachRate: -0.319767 m/s, LOS rate: 0.081179 deg/s, posRepo size: 4
2021-08-15T20:38:45.272Z,1629059925.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:45.426Z,1629059925.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:45.427Z,1629059925.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:45.427Z,1629059925.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:45.429Z,1629059925.429 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:45.846Z,1629059925.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002F0,189,80,80,90,FF
2021-08-15T20:38:45.846Z,1629059925.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:45.846Z,1629059925.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:45.847Z,1629059925.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:46.216Z,1629059926.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:38:46.605Z,1629059926.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,002F7,189,80,80,88,FF
2021-08-15T20:38:46.606Z,1629059926.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:38:46.608Z,1629059926.608 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T20:38:46.676Z,1629059926.676 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:38:47.057Z,1629059927.057 [Micromodem](INFO): Nmea in: $SNTTA,0.044462,,,,203847.07*4D

2021-08-15T20:38:47.270Z,1629059927.270 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 395A1961240000005D00000400320000000000000000151D80030C5669C08C79984BA2D801A098978B88AA903B20DA4F9DB78DD1010430BB97F0EE81C2FDC479
2021-08-15T20:38:47.270Z,1629059927.270 [Micromodem](INFO): Outgoing frame #2, 5 bytes: 5CDA56C003
2021-08-15T20:38:47.271Z,1629059927.271 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T20:38:47.344Z,1629059927.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 24.580973 deg, deltaT: 4.101107 s, approachRate: 0.102412 m/s, LOS rate: 0.022783 deg/s, posRepo size: 4
2021-08-15T20:38:48.321Z,1629059928.321 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T20:38:48.730Z,1629059928.730 [Micromodem](INFO): Nmea in: $CADRQ,203848,1,10,0,64,1*73

2021-08-15T20:38:48.730Z,1629059928.730 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,395A1961240000005D00000400320000000000000000151D80030C5669C08C79984BA2D801A098978B88AA903B20DA4F9DB78DD1010430BB97F0EE81C2FDC479*45

2021-08-15T20:38:49.122Z,1629059929.122 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T20:38:49.432Z,1629059929.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:49.569Z,1629059929.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:49.569Z,1629059929.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:49.569Z,1629059929.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:49.570Z,1629059929.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:49.589Z,1629059929.589 [Micromodem](INFO): Nmea in: $CADRQ,203849,1,10,0,64,2*71

2021-08-15T20:38:49.590Z,1629059929.590 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5CDA56C003*49

2021-08-15T20:38:49.973Z,1629059929.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002F7,189,80,80,88,FF
2021-08-15T20:38:49.973Z,1629059929.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:49.974Z,1629059929.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:38:49.975Z,1629059929.975 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,5*7E

2021-08-15T20:38:49.976Z,1629059929.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:38:50.387Z,1629059930.387 [Micromodem](INFO): Nmea in: $CATXP,69*7D

2021-08-15T20:38:50.389Z,1629059930.389 [Micromodem](ERROR): Response from modem unexpected: $CATXP,69*7D

2021-08-15T20:38:52.032Z,1629059932.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:52.806Z,1629059932.806 [Micromodem](INFO): Nmea in: $CATXF,69*6B

2021-08-15T20:38:52.806Z,1629059932.806 [Micromodem](ERROR): Response from modem unexpected: $CATXF,69*6B

2021-08-15T20:38:53.207Z,1629059933.207 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,203850.792393,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*55

2021-08-15T20:38:53.207Z,1629059933.207 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,203850.792393,3,0,200,4000,14500,1,1,10,1,2,2,3,69,14500*55

2021-08-15T20:38:54.838Z,1629059934.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:55.250Z,1629059935.250 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T20:38:55.644Z,1629059935.644 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073712
2021-08-15T20:38:55.646Z,1629059935.646 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T20:38:55.646Z,1629059935.646 [Micromodem](INFO): Sent 61 bytes from file Logs/20210815T181729/Courier0036.lzma.parts
2021-08-15T20:38:55.646Z,1629059935.646 [Micromodem](INFO): Packets left to send: 0
2021-08-15T20:38:56.502Z,1629059936.502 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815203855.434240,06,32767,45,0102,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,25.4,5.07,12,-2.07,-01,0.17,48,14500,4000*67

2021-08-15T20:38:56.502Z,1629059936.502 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815203855.434240,06,32767,45,0102,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,25.4,5.07,12,-2.07,-01,0.17,48,14500,4000*67

2021-08-15T20:38:56.788Z,1629059936.788 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T20:38:56.788Z,1629059936.788 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T20:38:56.788Z,1629059936.788 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T20:38:56.788Z,1629059936.788 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T20:38:56.788Z,1629059936.788 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T20:38:57.385Z,1629059937.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:38:57.733Z,1629059937.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:38:57.733Z,1629059937.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:38:57.733Z,1629059937.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:38:57.734Z,1629059937.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:38:58.145Z,1629059938.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,002F7,189,80,80,88,FF
2021-08-15T20:38:58.145Z,1629059938.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:38:58.146Z,1629059938.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:00.209Z,1629059940.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:01.366Z,1629059941.366 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:01.812Z,1629059941.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:02.173Z,1629059942.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45A,000,00302,189,80,80,A2,FF
2021-08-15T20:39:02.173Z,1629059942.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:02.177Z,1629059942.177 [Micromodem](INFO): Nmea in: $SNTTA,0.143750,0.143731,,,203902.59*5F

2021-08-15T20:39:02.195Z,1629059942.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:02.616Z,1629059942.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 35.853637 deg, deltaT: 15.518604 s, approachRate: 0.042530 m/s, LOS rate: 0.726397 deg/s, posRepo size: 4
2021-08-15T20:39:05.018Z,1629059945.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:05.422Z,1629059945.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:05.422Z,1629059945.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:05.423Z,1629059945.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:05.428Z,1629059945.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:05.446Z,1629059945.446 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:39:05.845Z,1629059945.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45A,000,00302,189,80,80,A2,FF
2021-08-15T20:39:05.845Z,1629059945.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:05.845Z,1629059945.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:05.847Z,1629059945.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:06.217Z,1629059946.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:06.621Z,1629059946.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,424,000,00306,189,80,80,B8,FF
2021-08-15T20:39:06.622Z,1629059946.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:06.651Z,1629059946.651 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:07.043Z,1629059947.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203907.08*59

2021-08-15T20:39:07.084Z,1629059947.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 39.592158 deg, deltaT: 4.456768 s, approachRate: 0.053851 m/s, LOS rate: 0.838841 deg/s, posRepo size: 4
2021-08-15T20:39:09.507Z,1629059949.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:09.857Z,1629059949.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:09.857Z,1629059949.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:09.857Z,1629059949.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:09.858Z,1629059949.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:10.254Z,1629059950.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
424,000,00306,189,80,80,B8,FF
2021-08-15T20:39:10.254Z,1629059950.254 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:10.254Z,1629059950.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:10.309Z,1629059950.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:10.668Z,1629059950.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:11.094Z,1629059951.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,448,000,0030D,18A,80,80,CC,FF
2021-08-15T20:39:11.094Z,1629059951.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:11.126Z,1629059951.126 [CTD_Seabird](ERROR): Failed to parse device response: 5.79,24.5053,4.818.51
2021-08-15T20:39:11.237Z,1629059951.237 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:11.518Z,1629059951.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203911.55*56

2021-08-15T20:39:11.616Z,1629059951.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 38.951889 deg, deltaT: 4.585541 s, approachRate: 0.091592 m/s, LOS rate: -0.139628 deg/s, posRepo size: 4
2021-08-15T20:39:13.982Z,1629059953.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:14.325Z,1629059954.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:14.325Z,1629059954.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:14.325Z,1629059954.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:14.326Z,1629059954.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:14.729Z,1629059954.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
448,000,0030D,18A,80,80,CC,FF
2021-08-15T20:39:14.729Z,1629059954.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:14.729Z,1629059954.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:14.731Z,1629059954.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:15.149Z,1629059955.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:15.537Z,1629059955.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,468,000,00310,189,80,80,B5,FF
2021-08-15T20:39:15.538Z,1629059955.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:15.591Z,1629059955.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:15.978Z,1629059955.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203915.96*5D

2021-08-15T20:39:16.013Z,1629059956.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 38.172534 deg, deltaT: 4.362544 s, approachRate: 0.041261 m/s, LOS rate: -0.178647 deg/s, posRepo size: 4
2021-08-15T20:39:18.441Z,1629059958.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:18.769Z,1629059958.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:18.769Z,1629059958.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:18.769Z,1629059958.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:18.770Z,1629059958.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:19.173Z,1629059959.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
468,000,00310,189,80,80,B5,FF
2021-08-15T20:39:19.173Z,1629059959.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:19.173Z,1629059959.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:19.175Z,1629059959.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:19.580Z,1629059959.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:19.990Z,1629059959.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B3,000,00314,18A,80,80,C1,FF
2021-08-15T20:39:19.990Z,1629059959.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:20.029Z,1629059960.029 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:20.441Z,1629059960.441 [Micromodem](INFO): Nmea in: $SNTTA,0.034702,,,,203920.40*4C

2021-08-15T20:39:20.488Z,1629059960.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.780002 m, bearing: 35.595784 deg, deltaT: 4.429426 s, approachRate: 0.054183 m/s, LOS rate: -0.581735 deg/s, posRepo size: 4
2021-08-15T20:39:22.830Z,1629059962.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:23.223Z,1629059963.223 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:23.223Z,1629059963.223 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:23.223Z,1629059963.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:23.224Z,1629059963.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:23.613Z,1629059963.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B3,000,00314,18A,80,80,C1,FF
2021-08-15T20:39:23.613Z,1629059963.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:23.613Z,1629059963.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:23.615Z,1629059963.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:24.025Z,1629059964.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:24.445Z,1629059964.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B5,000,0031E,189,80,80,B8,FF
2021-08-15T20:39:24.446Z,1629059964.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:24.507Z,1629059964.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:24.869Z,1629059964.869 [Micromodem](INFO): Nmea in: $SNTTA,0.025303,,,,203924.84*45

2021-08-15T20:39:24.902Z,1629059964.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 36.225595 deg, deltaT: 4.478027 s, approachRate: 0.133987 m/s, LOS rate: 0.140645 deg/s, posRepo size: 4
2021-08-15T20:39:27.300Z,1629059967.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:27.665Z,1629059967.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:27.666Z,1629059967.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:27.666Z,1629059967.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:27.667Z,1629059967.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:27.673Z,1629059967.673 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T20:39:28.061Z,1629059968.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B5,000,0031E,189,80,80,B8,FF
2021-08-15T20:39:28.061Z,1629059968.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:28.061Z,1629059968.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:28.063Z,1629059968.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:28.481Z,1629059968.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:28.873Z,1629059968.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00323,189,80,80,C2,FF
2021-08-15T20:39:28.873Z,1629059968.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:28.917Z,1629059968.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:29.329Z,1629059969.329 [Micromodem](INFO): Nmea in: $SNTTA,0.433975,,,,203929.29*47

2021-08-15T20:39:29.375Z,1629059969.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.680000 m, bearing: 33.026861 deg, deltaT: 4.410324 s, approachRate: 0.068022 m/s, LOS rate: -0.725283 deg/s, posRepo size: 4
2021-08-15T20:39:31.737Z,1629059971.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:32.113Z,1629059972.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:32.113Z,1629059972.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:32.114Z,1629059972.114 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:32.114Z,1629059972.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:32.521Z,1629059972.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00323,189,80,80,C2,FF
2021-08-15T20:39:32.521Z,1629059972.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:32.521Z,1629059972.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:32.523Z,1629059972.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:32.920Z,1629059972.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:33.330Z,1629059973.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00328,18A,80,80,B1,FF
2021-08-15T20:39:33.330Z,1629059973.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:33.354Z,1629059973.354 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:33.785Z,1629059973.785 [Micromodem](INFO): Nmea in: $SNTTA,0.439557,,,,203933.75*43

2021-08-15T20:39:33.839Z,1629059973.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.980000 m, bearing: 33.931239 deg, deltaT: 4.436793 s, approachRate: 0.067616 m/s, LOS rate: 0.203836 deg/s, posRepo size: 4
2021-08-15T20:39:36.208Z,1629059976.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:36.561Z,1629059976.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:36.561Z,1629059976.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:36.561Z,1629059976.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:36.562Z,1629059976.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:36.961Z,1629059976.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00328,18A,80,80,B1,FF
2021-08-15T20:39:36.961Z,1629059976.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:36.961Z,1629059976.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:36.963Z,1629059976.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:37.373Z,1629059977.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:37.797Z,1629059977.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EC,000,00330,189,80,80,9B,FF
2021-08-15T20:39:37.798Z,1629059977.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:37.884Z,1629059977.884 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:38.205Z,1629059978.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203938.19*55

2021-08-15T20:39:38.250Z,1629059978.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.459998 m, bearing: 36.050876 deg, deltaT: 4.529850 s, approachRate: 0.105963 m/s, LOS rate: 0.467926 deg/s, posRepo size: 4
2021-08-15T20:39:40.641Z,1629059980.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:40.994Z,1629059980.994 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:40.994Z,1629059980.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:40.995Z,1629059980.995 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:40.996Z,1629059980.996 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:41.421Z,1629059981.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EC,000,00330,189,80,80,9B,FF
2021-08-15T20:39:41.421Z,1629059981.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:41.422Z,1629059981.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:41.426Z,1629059981.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:41.864Z,1629059981.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:42.221Z,1629059982.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00339,18A,80,80,B3,FF
2021-08-15T20:39:42.222Z,1629059982.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:42.224Z,1629059982.224 [Micromodem](INFO): Nmea in: 3942,COPROC,0.20.0.39330*75

2021-08-15T20:39:42.225Z,1629059982.225 [Micromodem](ERROR): Response from modem failed NMEA checksum: 3942,COPROC,0.20.0.39330*75
 expected 0
2021-08-15T20:39:42.247Z,1629059982.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:42.655Z,1629059982.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 35.838846 deg, deltaT: 4.363002 s, approachRate: 0.123768 m/s, LOS rate: -0.048597 deg/s, posRepo size: 4
2021-08-15T20:39:45.058Z,1629059985.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:45.465Z,1629059985.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:45.465Z,1629059985.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:45.465Z,1629059985.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:45.466Z,1629059985.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:45.881Z,1629059985.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00339,18A,80,80,B3,FF
2021-08-15T20:39:45.881Z,1629059985.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:45.882Z,1629059985.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:45.883Z,1629059985.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:46.263Z,1629059986.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:46.661Z,1629059986.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0033F,189,80,80,BD,FF
2021-08-15T20:39:46.662Z,1629059986.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:46.738Z,1629059986.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:47.083Z,1629059987.083 [Micromodem](INFO): Nmea in: $SNTTA,0.024697,,,,203947.11*45

2021-08-15T20:39:47.101Z,1629059987.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 36.909024 deg, deltaT: 4.490886 s, approachRate: 0.080163 m/s, LOS rate: 0.238300 deg/s, posRepo size: 4
2021-08-15T20:39:49.533Z,1629059989.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:49.893Z,1629059989.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:49.893Z,1629059989.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:49.893Z,1629059989.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:49.894Z,1629059989.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:50.301Z,1629059990.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0033F,189,80,80,BD,FF
2021-08-15T20:39:50.301Z,1629059990.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:50.301Z,1629059990.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:50.303Z,1629059990.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:50.701Z,1629059990.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:51.110Z,1629059991.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00346,189,80,80,57,FF
2021-08-15T20:39:51.110Z,1629059991.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:51.134Z,1629059991.134 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:51.545Z,1629059991.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203951.53*54

2021-08-15T20:39:51.582Z,1629059991.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 38.060850 deg, deltaT: 4.396005 s, approachRate: 0.095540 m/s, LOS rate: 0.262017 deg/s, posRepo size: 4
2021-08-15T20:39:53.985Z,1629059993.985 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:54.349Z,1629059994.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:54.350Z,1629059994.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:54.350Z,1629059994.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:54.351Z,1629059994.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:54.746Z,1629059994.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00346,189,80,80,57,FF
2021-08-15T20:39:54.746Z,1629059994.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:54.746Z,1629059994.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:54.747Z,1629059994.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:55.155Z,1629059995.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:55.549Z,1629059995.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00351,189,80,80,8D,FF
2021-08-15T20:39:55.550Z,1629059995.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:39:55.609Z,1629059995.609 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:39:55.985Z,1629059995.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,203955.98*57

2021-08-15T20:39:56.033Z,1629059996.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 39.116671 deg, deltaT: 4.474892 s, approachRate: 0.147490 m/s, LOS rate: 0.235943 deg/s, posRepo size: 4
2021-08-15T20:39:58.469Z,1629059998.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:39:58.782Z,1629059998.782 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:39:58.782Z,1629059998.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:39:58.782Z,1629059998.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:39:58.783Z,1629059998.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:39:59.178Z,1629059999.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00351,189,80,80,8D,FF
2021-08-15T20:39:59.178Z,1629059999.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:39:59.179Z,1629059999.179 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:39:59.180Z,1629059999.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:39:59.589Z,1629059999.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:39:59.987Z,1629059999.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00356,189,80,80,B8,FF
2021-08-15T20:40:00.004Z,1629060000.004 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:00.077Z,1629060000.077 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:00.470Z,1629060000.470 [Micromodem](INFO): Nmea in: $SNTTA,0.063873,,,,204000.41*4A

2021-08-15T20:40:00.503Z,1629060000.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.739999 m, bearing: 39.935846 deg, deltaT: 4.468198 s, approachRate: 0.067141 m/s, LOS rate: 0.183335 deg/s, posRepo size: 4
2021-08-15T20:40:02.843Z,1629060002.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:03.238Z,1629060003.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:03.238Z,1629060003.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:03.238Z,1629060003.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:03.239Z,1629060003.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:03.631Z,1629060003.631 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00356,189,80,80,B8,FF
2021-08-15T20:40:03.631Z,1629060003.631 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:03.632Z,1629060003.632 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:03.633Z,1629060003.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:04.045Z,1629060004.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:04.473Z,1629060004.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0035D,18A,80,80,BD,FF
2021-08-15T20:40:04.474Z,1629060004.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:04.503Z,1629060004.503 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:04.879Z,1629060004.879 [Micromodem](INFO): Nmea in: $SNTTA,0.033489,,,,204004.86*49

2021-08-15T20:40:04.902Z,1629060004.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 40.817716 deg, deltaT: 4.426048 s, approachRate: 0.094893 m/s, LOS rate: 0.199245 deg/s, posRepo size: 4
2021-08-15T20:40:07.299Z,1629060007.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:07.673Z,1629060007.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:07.673Z,1629060007.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:07.673Z,1629060007.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:07.674Z,1629060007.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:08.077Z,1629060008.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0035D,18A,80,80,BD,FF
2021-08-15T20:40:08.078Z,1629060008.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:08.078Z,1629060008.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:08.080Z,1629060008.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:08.481Z,1629060008.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:08.885Z,1629060008.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00364,189,80,80,8D,FF
2021-08-15T20:40:08.886Z,1629060008.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:08.905Z,1629060008.905 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:09.317Z,1629060009.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204009.31*53

2021-08-15T20:40:09.353Z,1629060009.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.579999 m, bearing: 40.979974 deg, deltaT: 4.401743 s, approachRate: 0.095417 m/s, LOS rate: 0.036862 deg/s, posRepo size: 4
2021-08-15T20:40:11.783Z,1629060011.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:12.117Z,1629060012.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:12.117Z,1629060012.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:12.117Z,1629060012.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:12.118Z,1629060012.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:12.529Z,1629060012.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00364,189,80,80,8D,FF
2021-08-15T20:40:12.529Z,1629060012.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:12.529Z,1629060012.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:12.531Z,1629060012.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:12.928Z,1629060012.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:13.334Z,1629060013.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00370,189,80,80,82,FF
2021-08-15T20:40:13.334Z,1629060013.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:13.353Z,1629060013.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:13.773Z,1629060013.773 [Micromodem](INFO): Nmea in: $SNTTA,0.036353,,,,204013.76*45

2021-08-15T20:40:13.863Z,1629060013.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.299999 m, bearing: 40.970685 deg, deltaT: 4.448384 s, approachRate: 0.161857 m/s, LOS rate: -0.002088 deg/s, posRepo size: 4
2021-08-15T20:40:16.229Z,1629060016.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:16.561Z,1629060016.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:16.561Z,1629060016.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:16.561Z,1629060016.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:16.562Z,1629060016.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:16.965Z,1629060016.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00370,189,80,80,82,FF
2021-08-15T20:40:16.965Z,1629060016.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:16.965Z,1629060016.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:16.967Z,1629060016.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:17.372Z,1629060017.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:17.782Z,1629060017.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00375,18A,80,80,B2,FF
2021-08-15T20:40:17.783Z,1629060017.783 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:17.861Z,1629060017.861 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:18.209Z,1629060018.209 [Micromodem](INFO): Nmea in: $SNTTA,,0.035317,,,204018.19*44

2021-08-15T20:40:18.284Z,1629060018.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.599998 m, bearing: 40.653877 deg, deltaT: 4.507909 s, approachRate: 0.066550 m/s, LOS rate: -0.070278 deg/s, posRepo size: 4
2021-08-15T20:40:20.644Z,1629060020.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:21.001Z,1629060021.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:21.001Z,1629060021.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:21.001Z,1629060021.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:21.002Z,1629060021.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:21.426Z,1629060021.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00375,18A,80,80,B2,FF
2021-08-15T20:40:21.426Z,1629060021.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:21.426Z,1629060021.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:21.432Z,1629060021.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:21.878Z,1629060021.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:21.892Z,1629060021.892 [Micromodem](INFO): Nmea in: 7D

2021-08-15T20:40:21.892Z,1629060021.892 [Micromodem](ERROR): Response from modem failed NMEA checksum: 7D
 expected 0
2021-08-15T20:40:22.221Z,1629060022.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E7,000,0037D,189,80,80,95,FF
2021-08-15T20:40:22.222Z,1629060022.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:22.254Z,1629060022.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:22.661Z,1629060022.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.079996 m, bearing: 41.759531 deg, deltaT: 4.393683 s, approachRate: 0.109247 m/s, LOS rate: 0.251646 deg/s, posRepo size: 4
2021-08-15T20:40:25.069Z,1629060025.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:25.465Z,1629060025.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:25.465Z,1629060025.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:25.465Z,1629060025.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:25.466Z,1629060025.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:25.857Z,1629060025.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E7,000,0037D,189,80,80,95,FF
2021-08-15T20:40:25.857Z,1629060025.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:25.857Z,1629060025.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:25.859Z,1629060025.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:26.271Z,1629060026.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:26.657Z,1629060026.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EF,000,00386,18A,80,80,82,FF
2021-08-15T20:40:26.658Z,1629060026.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:26.714Z,1629060026.714 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:27.101Z,1629060027.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204027.09*54

2021-08-15T20:40:27.124Z,1629060027.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 41.311156 deg, deltaT: 4.459600 s, approachRate: 0.121088 m/s, LOS rate: -0.100541 deg/s, posRepo size: 4
2021-08-15T20:40:29.532Z,1629060029.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:29.889Z,1629060029.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:29.889Z,1629060029.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:29.889Z,1629060029.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:29.890Z,1629060029.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:30.309Z,1629060030.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EF,000,00386,18A,80,80,82,FF
2021-08-15T20:40:30.309Z,1629060030.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:30.309Z,1629060030.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:30.311Z,1629060030.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:30.709Z,1629060030.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:31.105Z,1629060031.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4DF,000,0038B,189,80,80,AE,FF
2021-08-15T20:40:31.106Z,1629060031.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:31.125Z,1629060031.125 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:31.549Z,1629060031.549 [Micromodem](INFO): Nmea in: $SNTTA,0.045112,,,,204031.54*46

2021-08-15T20:40:31.586Z,1629060031.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.919998 m, bearing: 41.658936 deg, deltaT: 4.410520 s, approachRate: 0.068019 m/s, LOS rate: 0.078852 deg/s, posRepo size: 4
2021-08-15T20:40:33.982Z,1629060033.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:34.337Z,1629060034.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:34.337Z,1629060034.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:34.338Z,1629060034.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:34.339Z,1629060034.339 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:34.737Z,1629060034.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4DF,000,0038B,189,80,80,AE,FF
2021-08-15T20:40:34.737Z,1629060034.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:34.737Z,1629060034.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:34.739Z,1629060034.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:35.153Z,1629060035.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:35.549Z,1629060035.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AE,000,00394,189,80,80,8D,FF
2021-08-15T20:40:35.550Z,1629060035.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:35.624Z,1629060035.624 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:35.982Z,1629060035.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204035.97*50

2021-08-15T20:40:36.022Z,1629060036.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.459999 m, bearing: 44.112220 deg, deltaT: 4.499110 s, approachRate: 0.120024 m/s, LOS rate: 0.545282 deg/s, posRepo size: 4
2021-08-15T20:40:36.782Z,1629060036.782 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:40:38.444Z,1629060038.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:38.773Z,1629060038.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:38.773Z,1629060038.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:38.774Z,1629060038.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:38.775Z,1629060038.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:39.182Z,1629060039.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AE,000,00394,189,80,80,8D,FF
2021-08-15T20:40:39.182Z,1629060039.182 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:39.182Z,1629060039.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:39.188Z,1629060039.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:39.597Z,1629060039.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:39.988Z,1629060039.988 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C4,000,0039A,18A,80,80,B2,FF
2021-08-15T20:40:39.989Z,1629060039.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:39.992Z,1629060039.992 [Micromodem](INFO): Nmea in: $SNTTA,0.191021,0.190839,,,204040.42*5A

2021-08-15T20:40:40.073Z,1629060040.073 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:40.453Z,1629060040.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 43.286594 deg, deltaT: 4.448800 s, approachRate: 0.080921 m/s, LOS rate: -0.185584 deg/s, posRepo size: 4
2021-08-15T20:40:42.842Z,1629060042.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:43.229Z,1629060043.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:43.229Z,1629060043.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:43.229Z,1629060043.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:43.230Z,1629060043.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:43.633Z,1629060043.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C4,000,0039A,18A,80,80,B2,FF
2021-08-15T20:40:43.633Z,1629060043.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:43.633Z,1629060043.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:43.635Z,1629060043.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:44.051Z,1629060044.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:44.465Z,1629060044.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D9,000,003AD,189,80,80,A7,FF
2021-08-15T20:40:44.465Z,1629060044.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:44.494Z,1629060044.494 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:44.878Z,1629060044.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204044.86*56

2021-08-15T20:40:44.900Z,1629060044.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.960001 m, bearing: 42.726785 deg, deltaT: 4.421084 s, approachRate: 0.257855 m/s, LOS rate: -0.126623 deg/s, posRepo size: 4
2021-08-15T20:40:47.299Z,1629060047.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:47.665Z,1629060047.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:47.665Z,1629060047.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:47.665Z,1629060047.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:47.666Z,1629060047.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:48.077Z,1629060048.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D9,000,003AD,189,80,80,A7,FF
2021-08-15T20:40:48.077Z,1629060048.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:48.077Z,1629060048.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:48.079Z,1629060048.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:48.481Z,1629060048.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:48.893Z,1629060048.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C8,000,003B3,189,80,80,A9,FF
2021-08-15T20:40:48.894Z,1629060048.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:48.912Z,1629060048.912 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:49.309Z,1629060049.309 [Micromodem](INFO): Nmea in: $SNTTA,0.032822,,,,204049.31*40

2021-08-15T20:40:49.331Z,1629060049.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 44.304821 deg, deltaT: 4.418586 s, approachRate: 0.081474 m/s, LOS rate: 0.357136 deg/s, posRepo size: 4
2021-08-15T20:40:51.808Z,1629060051.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:52.117Z,1629060052.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:52.117Z,1629060052.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:52.117Z,1629060052.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:52.118Z,1629060052.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:52.513Z,1629060052.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C8,000,003B3,189,80,80,A9,FF
2021-08-15T20:40:52.513Z,1629060052.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:52.513Z,1629060052.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:52.515Z,1629060052.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:52.930Z,1629060052.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:53.321Z,1629060053.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4FE,000,003AF,18A,80,80,AA,FF
2021-08-15T20:40:53.322Z,1629060053.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:53.412Z,1629060053.412 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:53.798Z,1629060053.798 [Micromodem](INFO): Nmea in: $SNTTA,0.058034,,,,204053.74*49

2021-08-15T20:40:53.841Z,1629060053.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 42.433028 deg, deltaT: 4.500594 s, approachRate: -0.053327 m/s, LOS rate: -0.415899 deg/s, posRepo size: 4
2021-08-15T20:40:56.256Z,1629060056.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:40:56.562Z,1629060056.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:40:56.562Z,1629060056.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:40:56.562Z,1629060056.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:40:56.563Z,1629060056.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:40:56.957Z,1629060056.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4FE,000,003AF,18A,80,80,AA,FF
2021-08-15T20:40:56.958Z,1629060056.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:40:56.958Z,1629060056.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:40:56.961Z,1629060056.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:40:57.373Z,1629060057.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:40:57.785Z,1629060057.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003B9,189,80,80,9D,FF
2021-08-15T20:40:57.787Z,1629060057.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:40:57.902Z,1629060057.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:40:58.197Z,1629060058.197 [Micromodem](INFO): Nmea in: $SNTTA,0.040730,,,,204058.19*43

2021-08-15T20:40:58.219Z,1629060058.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 43.568530 deg, deltaT: 4.488711 s, approachRate: 0.133670 m/s, LOS rate: 0.252968 deg/s, posRepo size: 4
2021-08-15T20:41:00.649Z,1629060060.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:00.997Z,1629060060.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:00.997Z,1629060060.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:00.997Z,1629060060.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:00.998Z,1629060060.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:01.425Z,1629060061.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003B9,189,80,80,9D,FF
2021-08-15T20:41:01.425Z,1629060061.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:01.425Z,1629060061.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:01.427Z,1629060061.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:01.858Z,1629060061.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:02.217Z,1629060062.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CA,189,80,80,8A,FF
2021-08-15T20:41:02.218Z,1629060062.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:02.241Z,1629060062.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:02.641Z,1629060062.641 [Micromodem](INFO): Nmea in: $SNTTA,,0.038406,,,204102.66*4C

2021-08-15T20:41:02.716Z,1629060062.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 44.828765 deg, deltaT: 4.339255 s, approachRate: 0.235063 m/s, LOS rate: 0.290427 deg/s, posRepo size: 4
2021-08-15T20:41:05.060Z,1629060065.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:05.473Z,1629060065.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:05.473Z,1629060065.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:05.473Z,1629060065.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:05.474Z,1629060065.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:05.853Z,1629060065.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CA,189,80,80,8A,FF
2021-08-15T20:41:05.853Z,1629060065.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:05.853Z,1629060065.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:05.855Z,1629060065.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:06.295Z,1629060066.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:06.665Z,1629060066.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003CA,189,80,80,80,FF
2021-08-15T20:41:06.666Z,1629060066.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:06.769Z,1629060066.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:07.093Z,1629060067.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204107.08*56

2021-08-15T20:41:07.115Z,1629060067.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 45.731993 deg, deltaT: 4.528484 s, approachRate: 0.000000 m/s, LOS rate: 0.199455 deg/s, posRepo size: 4
2021-08-15T20:41:09.508Z,1629060069.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:09.893Z,1629060069.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:09.893Z,1629060069.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:09.893Z,1629060069.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:09.894Z,1629060069.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:10.301Z,1629060070.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003CA,189,80,80,80,FF
2021-08-15T20:41:10.301Z,1629060070.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:10.301Z,1629060070.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:10.303Z,1629060070.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:10.709Z,1629060070.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:11.097Z,1629060071.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003DA,189,80,80,68,FF
2021-08-15T20:41:11.098Z,1629060071.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:11.117Z,1629060071.117 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:11.529Z,1629060071.529 [Micromodem](INFO): Nmea in: $SNTTA,0.052656,,,,204111.53*43

2021-08-15T20:41:11.583Z,1629060071.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 46.893944 deg, deltaT: 4.347337 s, approachRate: 0.220824 m/s, LOS rate: 0.267279 deg/s, posRepo size: 4
2021-08-15T20:41:13.975Z,1629060073.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:14.329Z,1629060074.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:14.329Z,1629060074.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:14.330Z,1629060074.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:14.331Z,1629060074.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:14.744Z,1629060074.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003DA,189,80,80,68,FF
2021-08-15T20:41:14.745Z,1629060074.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:14.745Z,1629060074.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:14.747Z,1629060074.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:15.146Z,1629060075.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:15.554Z,1629060075.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003DA,189,80,80,7B,FF
2021-08-15T20:41:15.554Z,1629060075.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:15.615Z,1629060075.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:15.977Z,1629060075.977 [Micromodem](INFO): Nmea in: $SNTTA,0.031718,,,,204115.98*4E

2021-08-15T20:41:16.025Z,1629060076.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.659998 m, bearing: 47.823246 deg, deltaT: 4.498528 s, approachRate: 0.000000 m/s, LOS rate: 0.206579 deg/s, posRepo size: 4
2021-08-15T20:41:18.425Z,1629060078.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:18.785Z,1629060078.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:18.785Z,1629060078.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:18.785Z,1629060078.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:18.786Z,1629060078.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:19.185Z,1629060079.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003DA,189,80,80,7B,FF
2021-08-15T20:41:19.185Z,1629060079.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:19.185Z,1629060079.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:19.187Z,1629060079.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:19.589Z,1629060079.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:19.997Z,1629060079.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003EB,18A,80,80,4A,FF
2021-08-15T20:41:19.998Z,1629060079.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:20.096Z,1629060080.096 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:20.441Z,1629060080.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204120.42*5D

2021-08-15T20:41:20.468Z,1629060080.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 48.101477 deg, deltaT: 4.480812 s, approachRate: 0.227637 m/s, LOS rate: 0.062094 deg/s, posRepo size: 4
2021-08-15T20:41:22.830Z,1629060082.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:23.217Z,1629060083.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:23.217Z,1629060083.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:23.217Z,1629060083.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:23.218Z,1629060083.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:23.626Z,1629060083.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003EB,18A,80,80,4A,FF
2021-08-15T20:41:23.626Z,1629060083.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:23.626Z,1629060083.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:23.628Z,1629060083.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:24.025Z,1629060084.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:24.461Z,1629060084.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003E9,189,80,80,AC,FF
2021-08-15T20:41:24.461Z,1629060084.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:24.491Z,1629060084.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:24.869Z,1629060084.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204124.86*51

2021-08-15T20:41:24.891Z,1629060084.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 48.690301 deg, deltaT: 4.394548 s, approachRate: -0.027305 m/s, LOS rate: 0.133990 deg/s, posRepo size: 4
2021-08-15T20:41:27.285Z,1629060087.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:27.661Z,1629060087.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:27.661Z,1629060087.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:27.661Z,1629060087.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:27.662Z,1629060087.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:28.065Z,1629060088.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003E9,189,80,80,AC,FF
2021-08-15T20:41:28.065Z,1629060088.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:28.065Z,1629060088.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:28.067Z,1629060088.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:28.481Z,1629060088.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:28.877Z,1629060088.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003F1,189,80,80,7D,FF
2021-08-15T20:41:28.878Z,1629060088.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:28.929Z,1629060088.929 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:29.310Z,1629060089.310 [Micromodem](INFO): Nmea in: $SNTTA,0.042704,,,,204129.30*4A

2021-08-15T20:41:29.325Z,1629060089.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 49.248656 deg, deltaT: 4.438120 s, approachRate: 0.108153 m/s, LOS rate: 0.125809 deg/s, posRepo size: 4
2021-08-15T20:41:31.778Z,1629060091.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:32.105Z,1629060092.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:32.105Z,1629060092.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:32.105Z,1629060092.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:32.106Z,1629060092.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:32.513Z,1629060092.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003F1,189,80,80,7D,FF
2021-08-15T20:41:32.513Z,1629060092.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:32.513Z,1629060092.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:32.515Z,1629060092.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:32.913Z,1629060092.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:33.318Z,1629060093.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,003FD,188,80,80,7A,FF
2021-08-15T20:41:33.318Z,1629060093.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:33.337Z,1629060093.337 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:33.762Z,1629060093.762 [Micromodem](INFO): Nmea in: $SNTTA,0.025237,,,,204133.75*44

2021-08-15T20:41:33.847Z,1629060093.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 49.301026 deg, deltaT: 4.407843 s, approachRate: 0.163345 m/s, LOS rate: 0.011881 deg/s, posRepo size: 4
2021-08-15T20:41:35.843Z,1629060095.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:36.145Z,1629060096.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:36.145Z,1629060096.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:36.145Z,1629060096.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:36.146Z,1629060096.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:36.546Z,1629060096.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,003FD,188,80,80,7A,FF
2021-08-15T20:41:36.546Z,1629060096.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:36.546Z,1629060096.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:36.548Z,1629060096.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:36.965Z,1629060096.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:37.354Z,1629060097.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00402,189,80,80,A5,FF
2021-08-15T20:41:37.354Z,1629060097.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:37.440Z,1629060097.440 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:37.825Z,1629060097.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204137.78*52

2021-08-15T20:41:37.879Z,1629060097.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.059999 m, bearing: 49.426387 deg, deltaT: 4.103575 s, approachRate: 0.073107 m/s, LOS rate: 0.030549 deg/s, posRepo size: 4
2021-08-15T20:41:40.214Z,1629060100.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:40.585Z,1629060100.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:40.585Z,1629060100.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:40.585Z,1629060100.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:40.586Z,1629060100.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:41.009Z,1629060101.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00402,189,80,80,A5,FF
2021-08-15T20:41:41.009Z,1629060101.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:41.010Z,1629060101.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:41.011Z,1629060101.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:41.429Z,1629060101.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:41.863Z,1629060101.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00414,189,80,80,A0,FF
2021-08-15T20:41:41.863Z,1629060101.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:41.885Z,1629060101.885 [Micromodem](INFO): Nmea in: $SNTTA,0.028157,0.319819,,,204142.24*5B

2021-08-15T20:41:41.945Z,1629060101.945 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:42.269Z,1629060102.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 49.648782 deg, deltaT: 4.504881 s, approachRate: 0.239740 m/s, LOS rate: 0.049367 deg/s, posRepo size: 4
2021-08-15T20:41:44.669Z,1629060104.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:45.045Z,1629060105.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:45.045Z,1629060105.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:45.045Z,1629060105.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:45.046Z,1629060105.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:45.465Z,1629060105.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00414,189,80,80,A0,FF
2021-08-15T20:41:45.465Z,1629060105.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:45.465Z,1629060105.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:45.467Z,1629060105.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:45.877Z,1629060105.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:46.276Z,1629060106.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00414,189,80,80,B0,FF
2021-08-15T20:41:46.277Z,1629060106.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:46.329Z,1629060106.329 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:46.685Z,1629060106.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204146.70*5C

2021-08-15T20:41:46.728Z,1629060106.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.140001 m, bearing: 49.437141 deg, deltaT: 4.383956 s, approachRate: 0.000000 m/s, LOS rate: -0.048276 deg/s, posRepo size: 4
2021-08-15T20:41:49.127Z,1629060109.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:49.482Z,1629060109.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:49.482Z,1629060109.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:49.482Z,1629060109.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:49.483Z,1629060109.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:49.887Z,1629060109.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00414,189,80,80,B0,FF
2021-08-15T20:41:49.887Z,1629060109.887 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:49.887Z,1629060109.887 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:49.890Z,1629060109.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:50.297Z,1629060110.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:50.693Z,1629060110.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0041C,189,80,80,B5,FF
2021-08-15T20:41:50.694Z,1629060110.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:50.779Z,1629060110.779 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:51.133Z,1629060111.133 [Micromodem](INFO): Nmea in: $SNTTA,0.036009,,,,204151.12*4C

2021-08-15T20:41:51.149Z,1629060111.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 49.335559 deg, deltaT: 4.449588 s, approachRate: 0.107875 m/s, LOS rate: -0.022830 deg/s, posRepo size: 4
2021-08-15T20:41:53.556Z,1629060113.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:53.921Z,1629060113.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:53.921Z,1629060113.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:53.921Z,1629060113.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:53.922Z,1629060113.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:54.329Z,1629060114.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0041C,189,80,80,B5,FF
2021-08-15T20:41:54.329Z,1629060114.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:54.329Z,1629060114.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:54.331Z,1629060114.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:54.743Z,1629060114.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:55.145Z,1629060115.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00424,18A,80,80,AD,FF
2021-08-15T20:41:55.146Z,1629060115.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:55.205Z,1629060115.205 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:41:55.582Z,1629060115.582 [Micromodem](INFO): Nmea in: $SNTTA,0.032489,,,,204155.56*40

2021-08-15T20:41:55.629Z,1629060115.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 48.758473 deg, deltaT: 4.426514 s, approachRate: 0.108437 m/s, LOS rate: -0.130370 deg/s, posRepo size: 4
2021-08-15T20:41:58.050Z,1629060118.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:41:58.373Z,1629060118.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:41:58.373Z,1629060118.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:41:58.373Z,1629060118.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:41:58.374Z,1629060118.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:41:58.769Z,1629060118.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00424,18A,80,80,AD,FF
2021-08-15T20:41:58.769Z,1629060118.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:41:58.769Z,1629060118.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:41:58.771Z,1629060118.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:41:59.182Z,1629060119.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:41:59.577Z,1629060119.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00431,189,80,80,BA,FF
2021-08-15T20:41:59.578Z,1629060119.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:41:59.678Z,1629060119.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:00.010Z,1629060120.010 [Micromodem](INFO): Nmea in: $SNTTA,0.069164,,,,204200.00*48

2021-08-15T20:42:00.045Z,1629060120.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.880001 m, bearing: 48.711000 deg, deltaT: 4.473256 s, approachRate: 0.174370 m/s, LOS rate: -0.010613 deg/s, posRepo size: 4
2021-08-15T20:42:02.467Z,1629060122.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:02.809Z,1629060122.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:02.809Z,1629060122.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:02.809Z,1629060122.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:02.810Z,1629060122.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:03.213Z,1629060123.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00431,189,80,80,BA,FF
2021-08-15T20:42:03.213Z,1629060123.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:03.213Z,1629060123.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:03.215Z,1629060123.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:03.621Z,1629060123.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:04.021Z,1629060124.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0043F,189,80,80,6B,FF
2021-08-15T20:42:04.022Z,1629060124.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:04.097Z,1629060124.097 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:04.477Z,1629060124.477 [Micromodem](INFO): Nmea in: $SNTTA,,0.217927,,,204204.45*49

2021-08-15T20:42:04.542Z,1629060124.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 48.076639 deg, deltaT: 4.418889 s, approachRate: 0.190093 m/s, LOS rate: -0.143557 deg/s, posRepo size: 4
2021-08-15T20:42:06.882Z,1629060126.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:07.253Z,1629060127.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:07.254Z,1629060127.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:07.254Z,1629060127.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:07.255Z,1629060127.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:07.657Z,1629060127.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0043F,189,80,80,6B,FF
2021-08-15T20:42:07.657Z,1629060127.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:07.657Z,1629060127.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:07.659Z,1629060127.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:08.072Z,1629060128.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:08.473Z,1629060128.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0043B,18A,80,80,BF,FF
2021-08-15T20:42:08.474Z,1629060128.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:08.553Z,1629060128.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:08.905Z,1629060128.905 [Micromodem](INFO): Nmea in: $SNTTA,0.050728,,,,204208.89*45

2021-08-15T20:42:08.927Z,1629060128.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 47.685389 deg, deltaT: 4.456101 s, approachRate: -0.053859 m/s, LOS rate: -0.087801 deg/s, posRepo size: 4
2021-08-15T20:42:11.325Z,1629060131.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:11.697Z,1629060131.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:11.697Z,1629060131.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:11.697Z,1629060131.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:11.698Z,1629060131.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:12.101Z,1629060132.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0043B,18A,80,80,BF,FF
2021-08-15T20:42:12.101Z,1629060132.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:12.101Z,1629060132.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:12.103Z,1629060132.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:12.513Z,1629060132.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:12.909Z,1629060132.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C8,000,0044B,189,80,80,80,FF
2021-08-15T20:42:12.910Z,1629060132.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:12.969Z,1629060132.969 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:13.325Z,1629060133.325 [Micromodem](INFO): Nmea in: $SNTTA,0.344341,0.344328,,,204213.33*57

2021-08-15T20:42:13.361Z,1629060133.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.440001 m, bearing: 50.180966 deg, deltaT: 4.415721 s, approachRate: 0.217405 m/s, LOS rate: 0.565157 deg/s, posRepo size: 4
2021-08-15T20:42:15.819Z,1629060135.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:16.141Z,1629060136.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:16.141Z,1629060136.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:16.141Z,1629060136.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:16.142Z,1629060136.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:16.549Z,1629060136.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C8,000,0044B,189,80,80,80,FF
2021-08-15T20:42:16.549Z,1629060136.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:16.549Z,1629060136.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:16.551Z,1629060136.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:16.966Z,1629060136.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:17.354Z,1629060137.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,495,000,00450,189,80,80,67,FF
2021-08-15T20:42:17.354Z,1629060137.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:17.437Z,1629060137.437 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:17.817Z,1629060137.817 [Micromodem](INFO): Nmea in: $SNTTA,0.035945,,,,204217.78*43

2021-08-15T20:42:17.874Z,1629060137.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 52.204700 deg, deltaT: 4.467696 s, approachRate: 0.067149 m/s, LOS rate: 0.452970 deg/s, posRepo size: 4
2021-08-15T20:42:20.207Z,1629060140.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:20.585Z,1629060140.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:20.585Z,1629060140.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:20.585Z,1629060140.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:20.586Z,1629060140.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:20.993Z,1629060140.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
495,000,00450,189,80,80,67,FF
2021-08-15T20:42:20.993Z,1629060140.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:20.993Z,1629060140.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:20.995Z,1629060140.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:21.430Z,1629060141.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:22.221Z,1629060142.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,014F3,189,80,80,6C,FF
2021-08-15T20:42:22.221Z,1629060142.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:22.225Z,1629060142.225 [Micromodem](INFO): Nmea in: $SNTTA,0.223645,,,,204222.23*41

2021-08-15T20:42:22.281Z,1629060142.281 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:22.646Z,1629060142.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.279999 m, bearing: 53.573125 deg, deltaT: 4.844429 s, approachRate: 52.749249 m/s, LOS rate: 0.282474 deg/s, posRepo size: 4
2021-08-15T20:42:23.084Z,1629060143.084 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:42:23.085Z,1629060143.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:42:23.085Z,1629060143.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:42:23.085Z,1629060143.085 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:42:23.086Z,1629060143.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:42:23.086Z,1629060143.086 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:42:23.475Z,1629060143.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:42:23.476Z,1629060143.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:42:23.476Z,1629060143.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:42:23.476Z,1629060143.476 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:42:25.070Z,1629060145.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:25.469Z,1629060145.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:25.469Z,1629060145.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:25.470Z,1629060145.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:25.470Z,1629060145.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:25.853Z,1629060145.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,014F3,189,80,80,6C,FF
2021-08-15T20:42:25.853Z,1629060145.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:25.853Z,1629060145.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:25.859Z,1629060145.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:26.262Z,1629060146.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:26.645Z,1629060146.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46F,000,0046B,189,80,80,7A,FF
2021-08-15T20:42:26.646Z,1629060146.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:27.082Z,1629060147.082 [Micromodem](INFO): Nmea in: $SNTTA,0.251613,,,,204227.09*4A

2021-08-15T20:42:27.103Z,1629060147.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 53.237001 deg, deltaT: 4.447005 s, approachRate: -57.099102 m/s, LOS rate: -0.075584 deg/s, posRepo size: 4
2021-08-15T20:42:27.508Z,1629060147.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:42:27.508Z,1629060147.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:42:27.508Z,1629060147.508 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:42:27.509Z,1629060147.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:42:27.509Z,1629060147.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:42:27.509Z,1629060147.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:42:27.904Z,1629060147.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:42:27.904Z,1629060147.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:42:27.904Z,1629060147.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:42:27.905Z,1629060147.905 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:42:29.506Z,1629060149.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:29.892Z,1629060149.892 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:29.892Z,1629060149.892 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:29.892Z,1629060149.892 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:29.893Z,1629060149.893 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:30.297Z,1629060150.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46F,000,0046B,189,80,80,7A,FF
2021-08-15T20:42:30.297Z,1629060150.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:30.297Z,1629060150.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:30.299Z,1629060150.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:30.697Z,1629060150.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:31.097Z,1629060151.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47B,000,0046B,18A,80,80,8B,FF
2021-08-15T20:42:31.098Z,1629060151.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:31.154Z,1629060151.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:31.533Z,1629060151.533 [Micromodem](INFO): Nmea in: $SNTTA,0.061300,,,,204231.53*44

2021-08-15T20:42:31.564Z,1629060151.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 51.738768 deg, deltaT: 4.425331 s, approachRate: 0.000000 m/s, LOS rate: -0.338558 deg/s, posRepo size: 4
2021-08-15T20:42:33.954Z,1629060153.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:34.321Z,1629060154.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:34.321Z,1629060154.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:34.321Z,1629060154.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:34.322Z,1629060154.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:34.725Z,1629060154.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47B,000,0046B,18A,80,80,8B,FF
2021-08-15T20:42:34.725Z,1629060154.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:34.725Z,1629060154.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:34.727Z,1629060154.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:35.136Z,1629060155.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:35.533Z,1629060155.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,424,000,0047B,189,80,80,91,FF
2021-08-15T20:42:35.534Z,1629060155.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:35.563Z,1629060155.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:35.957Z,1629060155.957 [Micromodem](INFO): Nmea in: $SNTTA,0.063962,0.460491,,,204235.96*55

2021-08-15T20:42:36.017Z,1629060156.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 55.968373 deg, deltaT: 4.409213 s, approachRate: 0.217727 m/s, LOS rate: 0.959265 deg/s, posRepo size: 4
2021-08-15T20:42:38.415Z,1629060158.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:38.781Z,1629060158.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:38.781Z,1629060158.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:38.781Z,1629060158.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:38.782Z,1629060158.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:39.177Z,1629060159.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
424,000,0047B,189,80,80,91,FF
2021-08-15T20:42:39.178Z,1629060159.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:39.178Z,1629060159.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:39.179Z,1629060159.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:39.585Z,1629060159.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:39.981Z,1629060159.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,0047C,18A,80,80,8E,FF
2021-08-15T20:42:39.982Z,1629060159.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:40.078Z,1629060160.078 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:40.450Z,1629060160.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 58.613774 deg, deltaT: 4.515663 s, approachRate: 0.013287 m/s, LOS rate: 0.585828 deg/s, posRepo size: 4
2021-08-15T20:42:42.827Z,1629060162.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:43.209Z,1629060163.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:43.209Z,1629060163.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:43.209Z,1629060163.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:43.210Z,1629060163.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:43.623Z,1629060163.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,0047C,18A,80,80,8E,FF
2021-08-15T20:42:43.623Z,1629060163.623 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:43.623Z,1629060163.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:43.625Z,1629060163.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:44.017Z,1629060164.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:44.453Z,1629060164.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,421,000,0047E,189,80,80,61,FF
2021-08-15T20:42:44.454Z,1629060164.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:44.507Z,1629060164.507 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:44.857Z,1629060164.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204244.86*54

2021-08-15T20:42:44.898Z,1629060164.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 55.845375 deg, deltaT: 4.428492 s, approachRate: 0.027097 m/s, LOS rate: -0.625133 deg/s, posRepo size: 4
2021-08-15T20:42:47.293Z,1629060167.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:47.670Z,1629060167.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:47.670Z,1629060167.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:47.670Z,1629060167.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:47.671Z,1629060167.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:48.057Z,1629060168.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
421,000,0047E,189,80,80,61,FF
2021-08-15T20:42:48.057Z,1629060168.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:48.057Z,1629060168.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:48.059Z,1629060168.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:48.483Z,1629060168.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:48.865Z,1629060168.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,439,000,00484,189,80,80,BC,FF
2021-08-15T20:42:48.866Z,1629060168.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:48.913Z,1629060168.913 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:49.311Z,1629060169.311 [Micromodem](INFO): Nmea in: $SNTTA,0.080411,,,,204249.29*4E

2021-08-15T20:42:49.327Z,1629060169.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 55.032808 deg, deltaT: 4.405617 s, approachRate: 0.081713 m/s, LOS rate: -0.184439 deg/s, posRepo size: 4
2021-08-15T20:42:51.813Z,1629060171.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:52.097Z,1629060172.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:52.097Z,1629060172.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:52.097Z,1629060172.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:52.098Z,1629060172.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:52.506Z,1629060172.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
439,000,00484,189,80,80,BC,FF
2021-08-15T20:42:52.507Z,1629060172.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:52.507Z,1629060172.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:52.509Z,1629060172.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:52.916Z,1629060172.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:53.319Z,1629060173.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,44F,000,00496,18A,80,80,B1,FF
2021-08-15T20:42:53.320Z,1629060173.320 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:53.388Z,1629060173.388 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:53.748Z,1629060173.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204253.74*5F

2021-08-15T20:42:53.834Z,1629060173.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 53.806912 deg, deltaT: 4.476844 s, approachRate: 0.241242 m/s, LOS rate: -0.273830 deg/s, posRepo size: 4
2021-08-15T20:42:56.195Z,1629060176.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:42:56.545Z,1629060176.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:42:56.545Z,1629060176.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:42:56.545Z,1629060176.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:42:56.546Z,1629060176.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:42:56.945Z,1629060176.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
44F,000,00496,18A,80,80,B1,FF
2021-08-15T20:42:56.945Z,1629060176.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:42:56.946Z,1629060176.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:42:56.947Z,1629060176.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:42:57.353Z,1629060177.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:42:57.765Z,1629060177.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,446,000,00497,189,80,80,AE,FF
2021-08-15T20:42:57.766Z,1629060177.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:42:57.896Z,1629060177.896 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:42:58.177Z,1629060178.177 [Micromodem](INFO): Nmea in: $SNTTA,0.090141,0.352860,,,204258.18*59

2021-08-15T20:42:58.246Z,1629060178.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.999996 m, bearing: 54.395142 deg, deltaT: 4.506510 s, approachRate: 0.013314 m/s, LOS rate: 0.130529 deg/s, posRepo size: 4
2021-08-15T20:43:00.625Z,1629060180.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:00.985Z,1629060180.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:00.985Z,1629060180.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:00.985Z,1629060180.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:00.989Z,1629060180.989 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:01.402Z,1629060181.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
446,000,00497,189,80,80,AE,FF
2021-08-15T20:43:01.402Z,1629060181.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:01.403Z,1629060181.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:01.409Z,1629060181.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:01.841Z,1629060181.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:02.198Z,1629060182.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,469,000,004A4,18A,80,80,31,FF
2021-08-15T20:43:02.198Z,1629060182.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:02.243Z,1629060182.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:02.625Z,1629060182.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204302.64*5B

2021-08-15T20:43:02.663Z,1629060182.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.779999 m, bearing: 52.593389 deg, deltaT: 4.347710 s, approachRate: 0.179405 m/s, LOS rate: -0.414414 deg/s, posRepo size: 4
2021-08-15T20:43:05.067Z,1629060185.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:05.465Z,1629060185.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:05.466Z,1629060185.466 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:05.466Z,1629060185.466 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:05.467Z,1629060185.467 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:05.853Z,1629060185.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
469,000,004A4,18A,80,80,31,FF
2021-08-15T20:43:05.853Z,1629060185.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:05.853Z,1629060185.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:05.855Z,1629060185.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:06.258Z,1629060186.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:06.653Z,1629060186.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,443,000,004AB,189,80,80,8C,FF
2021-08-15T20:43:06.654Z,1629060186.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:06.706Z,1629060186.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:07.073Z,1629060187.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204307.09*55

2021-08-15T20:43:07.105Z,1629060187.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 54.563492 deg, deltaT: 4.462545 s, approachRate: 0.094117 m/s, LOS rate: 0.441475 deg/s, posRepo size: 4
2021-08-15T20:43:09.510Z,1629060189.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:09.873Z,1629060189.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:09.873Z,1629060189.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:09.873Z,1629060189.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:09.874Z,1629060189.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:10.274Z,1629060190.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
443,000,004AB,189,80,80,8C,FF
2021-08-15T20:43:10.275Z,1629060190.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:10.275Z,1629060190.275 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:10.277Z,1629060190.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:10.694Z,1629060190.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:11.085Z,1629060191.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,004B0,18A,80,80,78,FF
2021-08-15T20:43:11.086Z,1629060191.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:11.133Z,1629060191.133 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:11.526Z,1629060191.526 [Micromodem](INFO): Nmea in: $SNTTA,0.053764,,,,204311.51*42

2021-08-15T20:43:11.552Z,1629060191.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.500000 m, bearing: 56.045288 deg, deltaT: 4.426381 s, approachRate: 0.067775 m/s, LOS rate: 0.334765 deg/s, posRepo size: 4
2021-08-15T20:43:13.959Z,1629060193.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:14.317Z,1629060194.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:14.317Z,1629060194.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:14.317Z,1629060194.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:14.318Z,1629060194.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:14.725Z,1629060194.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,004B0,18A,80,80,78,FF
2021-08-15T20:43:14.725Z,1629060194.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:14.725Z,1629060194.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:14.727Z,1629060194.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:15.129Z,1629060195.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:15.537Z,1629060195.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,43D,000,004B7,189,80,80,5C,FF
2021-08-15T20:43:15.538Z,1629060195.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:15.567Z,1629060195.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:15.945Z,1629060195.945 [Micromodem](INFO): Nmea in: $SNTTA,0.420334,0.460847,,,204315.96*5B

2021-08-15T20:43:15.997Z,1629060195.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 54.526141 deg, deltaT: 4.434025 s, approachRate: 0.094723 m/s, LOS rate: -0.342611 deg/s, posRepo size: 4
2021-08-15T20:43:18.375Z,1629060198.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:18.769Z,1629060198.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:18.770Z,1629060198.770 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:18.770Z,1629060198.770 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:18.771Z,1629060198.771 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:19.165Z,1629060199.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
43D,000,004B7,189,80,80,5C,FF
2021-08-15T20:43:19.165Z,1629060199.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:19.165Z,1629060199.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:19.167Z,1629060199.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:19.576Z,1629060199.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:19.978Z,1629060199.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,407,000,004C1,18A,80,80,97,FF
2021-08-15T20:43:19.979Z,1629060199.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:20.034Z,1629060200.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:20.423Z,1629060200.423 [Micromodem](INFO): Nmea in: $SNTTA,0.037218,,,,204320.40*4C

2021-08-15T20:43:20.469Z,1629060200.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 57.574649 deg, deltaT: 4.467370 s, approachRate: 0.134307 m/s, LOS rate: 0.682394 deg/s, posRepo size: 4
2021-08-15T20:43:22.818Z,1629060202.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:23.213Z,1629060203.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:23.213Z,1629060203.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:23.213Z,1629060203.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:23.214Z,1629060203.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:23.609Z,1629060203.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
407,000,004C1,18A,80,80,97,FF
2021-08-15T20:43:23.609Z,1629060203.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:23.609Z,1629060203.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:23.611Z,1629060203.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:24.029Z,1629060204.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:24.433Z,1629060204.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EB,000,004CD,189,80,80,A9,FF
2021-08-15T20:43:24.434Z,1629060204.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:24.482Z,1629060204.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:24.861Z,1629060204.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204324.84*51

2021-08-15T20:43:24.883Z,1629060204.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.239998 m, bearing: 59.123764 deg, deltaT: 4.448092 s, approachRate: 0.161867 m/s, LOS rate: 0.348265 deg/s, posRepo size: 4
2021-08-15T20:43:27.294Z,1629060207.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:27.649Z,1629060207.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:27.649Z,1629060207.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:27.649Z,1629060207.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:27.650Z,1629060207.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:28.061Z,1629060208.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EB,000,004CD,189,80,80,A9,FF
2021-08-15T20:43:28.061Z,1629060208.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:28.061Z,1629060208.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:28.063Z,1629060208.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:28.469Z,1629060208.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:28.861Z,1629060208.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41D,000,004DD,189,80,80,A2,FF
2021-08-15T20:43:28.862Z,1629060208.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:28.897Z,1629060208.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:29.309Z,1629060209.309 [Micromodem](INFO): Nmea in: $SNTTA,0.064000,,,,204329.29*47

2021-08-15T20:43:29.340Z,1629060209.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.200001 m, bearing: 56.887092 deg, deltaT: 4.414956 s, approachRate: 0.217443 m/s, LOS rate: -0.506612 deg/s, posRepo size: 4
2021-08-15T20:43:31.743Z,1629060211.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:32.093Z,1629060212.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:32.093Z,1629060212.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:32.093Z,1629060212.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:32.094Z,1629060212.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:32.497Z,1629060212.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41D,000,004DD,189,80,80,A2,FF
2021-08-15T20:43:32.497Z,1629060212.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:32.498Z,1629060212.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:32.499Z,1629060212.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:32.905Z,1629060212.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:33.309Z,1629060213.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DC,000,009EF,189,80,80,74,FF
2021-08-15T20:43:33.310Z,1629060213.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:33.375Z,1629060213.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:33.745Z,1629060213.745 [Micromodem](INFO): Nmea in: $SNTTA,0.139067,,,,204333.73*4B

2021-08-15T20:43:33.836Z,1629060213.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.080002 m, bearing: 60.336559 deg, deltaT: 4.480591 s, approachRate: 17.381638 m/s, LOS rate: 0.769869 deg/s, posRepo size: 4
2021-08-15T20:43:34.165Z,1629060214.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:43:34.165Z,1629060214.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:43:34.166Z,1629060214.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:43:34.166Z,1629060214.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:43:34.166Z,1629060214.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:43:34.166Z,1629060214.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:43:34.557Z,1629060214.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:43:34.557Z,1629060214.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:43:34.557Z,1629060214.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:43:34.557Z,1629060214.557 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:43:36.153Z,1629060216.153 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T20:43:36.192Z,1629060216.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:36.545Z,1629060216.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:36.545Z,1629060216.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:36.545Z,1629060216.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:36.546Z,1629060216.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:36.941Z,1629060216.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DC,000,009EF,189,80,80,74,FF
2021-08-15T20:43:36.941Z,1629060216.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:36.941Z,1629060216.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:36.943Z,1629060216.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:37.367Z,1629060217.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:37.760Z,1629060217.760 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,422,000,004EB,18A,80,80,5F,FF
2021-08-15T20:43:37.761Z,1629060217.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:38.193Z,1629060218.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204338.17*56

2021-08-15T20:43:38.250Z,1629060218.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 57.150949 deg, deltaT: 4.458314 s, approachRate: -17.280075 m/s, LOS rate: -0.714533 deg/s, posRepo size: 4
2021-08-15T20:43:38.611Z,1629060218.611 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T20:43:38.616Z,1629060218.616 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:43:38.616Z,1629060218.616 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T20:43:38.616Z,1629060218.616 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T20:43:38.617Z,1629060218.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T20:43:38.617Z,1629060218.617 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T20:43:39.005Z,1629060219.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T20:43:39.005Z,1629060219.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:43:39.005Z,1629060219.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T20:43:39.006Z,1629060219.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T20:43:40.616Z,1629060220.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:40.981Z,1629060220.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:40.981Z,1629060220.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:40.981Z,1629060220.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:40.982Z,1629060220.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:41.457Z,1629060221.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
422,000,004EB,18A,80,80,5F,FF
2021-08-15T20:43:41.458Z,1629060221.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:41.458Z,1629060221.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:41.459Z,1629060221.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:41.833Z,1629060221.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:42.206Z,1629060222.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,427,000,004F2,189,80,80,B0,FF
2021-08-15T20:43:42.207Z,1629060222.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:42.266Z,1629060222.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:42.675Z,1629060222.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 57.562696 deg, deltaT: 4.429674 s, approachRate: 0.094814 m/s, LOS rate: 0.092952 deg/s, posRepo size: 4
2021-08-15T20:43:43.037Z,1629060223.037 [Micromodem](INFO): Nmea in: $SNTTA,0.038574,,,,204342.69*41

2021-08-15T20:43:45.054Z,1629060225.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:45.463Z,1629060225.463 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:45.464Z,1629060225.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:45.464Z,1629060225.464 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:45.465Z,1629060225.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:45.845Z,1629060225.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
427,000,004F2,189,80,80,B0,FF
2021-08-15T20:43:45.845Z,1629060225.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:45.846Z,1629060225.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:45.847Z,1629060225.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:46.255Z,1629060226.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:46.637Z,1629060226.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42A,000,004F2,18A,80,80,C3,FF
2021-08-15T20:43:46.638Z,1629060226.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:46.727Z,1629060226.727 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:47.080Z,1629060227.080 [Micromodem](INFO): Nmea in: $SNTTA,0.061744,,,,204347.08*4E

2021-08-15T20:43:47.104Z,1629060227.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 58.088232 deg, deltaT: 4.462077 s, approachRate: 0.000000 m/s, LOS rate: 0.117778 deg/s, posRepo size: 4
2021-08-15T20:43:49.540Z,1629060229.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:49.877Z,1629060229.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:49.877Z,1629060229.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:49.877Z,1629060229.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:49.878Z,1629060229.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:50.283Z,1629060230.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42A,000,004F2,18A,80,80,C3,FF
2021-08-15T20:43:50.283Z,1629060230.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:50.283Z,1629060230.283 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:50.286Z,1629060230.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:50.681Z,1629060230.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:51.081Z,1629060231.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46D,000,004FC,189,80,80,AA,FF
2021-08-15T20:43:51.082Z,1629060231.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:51.109Z,1629060231.109 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:51.501Z,1629060231.501 [Micromodem](INFO): Nmea in: $SNTTA,0.449402,0.043472,,,204351.52*51

2021-08-15T20:43:51.526Z,1629060231.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 55.507588 deg, deltaT: 4.381067 s, approachRate: 0.136954 m/s, LOS rate: -0.589045 deg/s, posRepo size: 4
2021-08-15T20:43:53.974Z,1629060233.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:54.322Z,1629060234.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:54.322Z,1629060234.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:54.322Z,1629060234.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:54.323Z,1629060234.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:54.717Z,1629060234.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46D,000,004FC,189,80,80,AA,FF
2021-08-15T20:43:54.717Z,1629060234.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:54.717Z,1629060234.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:54.719Z,1629060234.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:55.125Z,1629060235.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:55.534Z,1629060235.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46A,000,00506,189,80,80,AE,FF
2021-08-15T20:43:55.534Z,1629060235.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:43:55.564Z,1629060235.564 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:43:55.950Z,1629060235.950 [Micromodem](INFO): Nmea in: $SNTTA,0.424363,0.424407,,,204355.95*52

2021-08-15T20:43:56.041Z,1629060236.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.660000 m, bearing: 56.036378 deg, deltaT: 4.455012 s, approachRate: 0.134679 m/s, LOS rate: 0.118695 deg/s, posRepo size: 4
2021-08-15T20:43:58.420Z,1629060238.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:43:58.757Z,1629060238.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:43:58.757Z,1629060238.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:43:58.757Z,1629060238.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:43:58.758Z,1629060238.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:43:59.157Z,1629060239.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46A,000,00506,189,80,80,AE,FF
2021-08-15T20:43:59.157Z,1629060239.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:43:59.158Z,1629060239.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:43:59.159Z,1629060239.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:43:59.568Z,1629060239.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:43:59.973Z,1629060239.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45F,000,00510,189,80,80,94,FF
2021-08-15T20:43:59.974Z,1629060239.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:00.108Z,1629060240.108 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T20:44:00.425Z,1629060240.425 [Micromodem](INFO): Nmea in: $SNTTA,0.045034,,,,204400.39*4E

2021-08-15T20:44:00.462Z,1629060240.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 57.253163 deg, deltaT: 4.544452 s, approachRate: 0.132029 m/s, LOS rate: 0.267752 deg/s, posRepo size: 4
2021-08-15T20:44:00.803Z,1629060240.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T20:44:00.803Z,1629060240.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:44:00.803Z,1629060240.803 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T20:44:00.804Z,1629060240.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T20:44:00.804Z,1629060240.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T20:44:00.804Z,1629060240.804 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T20:44:01.215Z,1629060241.215 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T20:44:01.215Z,1629060241.215 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:44:01.216Z,1629060241.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T20:44:01.216Z,1629060241.216 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T20:44:02.826Z,1629060242.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:03.209Z,1629060243.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:03.209Z,1629060243.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:03.210Z,1629060243.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:03.211Z,1629060243.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:03.605Z,1629060243.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45F,000,00510,189,80,80,94,FF
2021-08-15T20:44:03.605Z,1629060243.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:03.605Z,1629060243.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:03.607Z,1629060243.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:04.021Z,1629060244.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:04.441Z,1629060244.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C2,000,00518,189,80,80,81,FF
2021-08-15T20:44:04.442Z,1629060244.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:04.849Z,1629060244.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204404.84*54

2021-08-15T20:44:04.867Z,1629060244.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.739998 m, bearing: 53.233466 deg, deltaT: 4.386483 s, approachRate: 0.109427 m/s, LOS rate: -0.916382 deg/s, posRepo size: 4
2021-08-15T20:44:07.269Z,1629060247.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:07.645Z,1629060247.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:07.645Z,1629060247.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:07.645Z,1629060247.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:07.646Z,1629060247.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:08.049Z,1629060248.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C2,000,00518,189,80,80,81,FF
2021-08-15T20:44:08.049Z,1629060248.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:08.049Z,1629060248.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:08.051Z,1629060248.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:08.477Z,1629060248.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:08.853Z,1629060248.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E7,000,00526,189,80,80,9C,FF
2021-08-15T20:44:08.854Z,1629060248.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:09.294Z,1629060249.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204409.28*5F

2021-08-15T20:44:09.310Z,1629060249.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.579998 m, bearing: 52.172560 deg, deltaT: 4.401343 s, approachRate: 0.190851 m/s, LOS rate: -0.241041 deg/s, posRepo size: 4
2021-08-15T20:44:11.724Z,1629060251.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:12.089Z,1629060252.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:12.089Z,1629060252.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:12.089Z,1629060252.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:12.090Z,1629060252.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:12.497Z,1629060252.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E7,000,00526,189,80,80,9C,FF
2021-08-15T20:44:12.497Z,1629060252.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:12.497Z,1629060252.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:12.499Z,1629060252.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:12.901Z,1629060252.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:13.305Z,1629060253.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F7,000,00529,18A,80,80,77,FF
2021-08-15T20:44:13.306Z,1629060253.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:13.761Z,1629060253.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204413.73*5A

2021-08-15T20:44:13.846Z,1629060253.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 51.834162 deg, deltaT: 4.474167 s, approachRate: 0.040231 m/s, LOS rate: -0.075634 deg/s, posRepo size: 4
2021-08-15T20:44:16.189Z,1629060256.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:16.542Z,1629060256.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:16.542Z,1629060256.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:16.542Z,1629060256.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:16.543Z,1629060256.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:16.937Z,1629060256.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F7,000,00529,18A,80,80,77,FF
2021-08-15T20:44:16.937Z,1629060256.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:16.937Z,1629060256.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:16.939Z,1629060256.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:17.345Z,1629060257.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:17.761Z,1629060257.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00538,189,80,80,72,FF
2021-08-15T20:44:17.762Z,1629060257.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:18.193Z,1629060258.193 [Micromodem](INFO): Nmea in: $SNTTA,0.050899,,,,204418.17*40

2021-08-15T20:44:18.262Z,1629060258.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.660000 m, bearing: 52.041359 deg, deltaT: 4.480576 s, approachRate: 0.200867 m/s, LOS rate: 0.046243 deg/s, posRepo size: 4
2021-08-15T20:44:20.608Z,1629060260.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:20.977Z,1629060260.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:20.977Z,1629060260.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:20.978Z,1629060260.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:20.978Z,1629060260.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:21.418Z,1629060261.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00538,189,80,80,72,FF
2021-08-15T20:44:21.419Z,1629060261.419 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:21.420Z,1629060261.420 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:21.429Z,1629060261.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:21.477Z,1629060261.477 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:44:21.833Z,1629060261.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:22.193Z,1629060262.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00539,189,80,80,99,FF
2021-08-15T20:44:22.194Z,1629060262.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:22.619Z,1629060262.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204422.66*5C

2021-08-15T20:44:22.660Z,1629060262.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.719997 m, bearing: 52.605478 deg, deltaT: 4.361432 s, approachRate: 0.013756 m/s, LOS rate: 0.129343 deg/s, posRepo size: 4
2021-08-15T20:44:25.050Z,1629060265.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:25.469Z,1629060265.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:25.469Z,1629060265.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:25.469Z,1629060265.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:25.470Z,1629060265.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:25.845Z,1629060265.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00539,189,80,80,99,FF
2021-08-15T20:44:25.845Z,1629060265.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:25.845Z,1629060265.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:25.847Z,1629060265.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:26.234Z,1629060266.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:26.633Z,1629060266.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0053E,189,80,80,AC,FF
2021-08-15T20:44:26.634Z,1629060266.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:27.065Z,1629060267.065 [Micromodem](INFO): Nmea in: $SNTTA,0.077734,,,,204427.08*4F

2021-08-15T20:44:27.102Z,1629060267.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.019997 m, bearing: 52.836537 deg, deltaT: 4.449559 s, approachRate: 0.067422 m/s, LOS rate: 0.051928 deg/s, posRepo size: 4
2021-08-15T20:44:29.516Z,1629060269.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:29.869Z,1629060269.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:29.869Z,1629060269.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:29.869Z,1629060269.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:29.870Z,1629060269.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:30.274Z,1629060270.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0053E,189,80,80,AC,FF
2021-08-15T20:44:30.274Z,1629060270.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:30.274Z,1629060270.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:30.276Z,1629060270.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:30.677Z,1629060270.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:31.077Z,1629060271.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00547,18A,80,80,AA,FF
2021-08-15T20:44:31.078Z,1629060271.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:31.114Z,1629060271.114 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T20:44:31.486Z,1629060271.486 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:31.521Z,1629060271.521 [Micromodem](INFO): Nmea in: $SNTTA,0.048370,,,,204431.51*4C

2021-08-15T20:44:31.559Z,1629060271.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.559998 m, bearing: 53.428117 deg, deltaT: 4.435150 s, approachRate: 0.121755 m/s, LOS rate: 0.133384 deg/s, posRepo size: 4
2021-08-15T20:44:32.490Z,1629060272.490 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:33.494Z,1629060273.494 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:33.956Z,1629060273.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:34.321Z,1629060274.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:34.321Z,1629060274.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:34.321Z,1629060274.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:34.322Z,1629060274.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:34.498Z,1629060274.498 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:34.713Z,1629060274.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00547,18A,80,80,AA,FF
2021-08-15T20:44:34.713Z,1629060274.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:34.713Z,1629060274.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:34.715Z,1629060274.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:35.129Z,1629060275.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:35.509Z,1629060275.509 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:35.529Z,1629060275.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0054E,189,80,80,B1,FF
2021-08-15T20:44:35.530Z,1629060275.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:35.957Z,1629060275.957 [Micromodem](INFO): Nmea in: $SNTTA,0.040363,,,,204435.95*4A

2021-08-15T20:44:36.004Z,1629060276.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 53.388252 deg, deltaT: 4.489011 s, approachRate: 0.093562 m/s, LOS rate: -0.008880 deg/s, posRepo size: 4
2021-08-15T20:44:36.510Z,1629060276.510 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:36.767Z,1629060276.767 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:44:37.514Z,1629060277.514 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:38.433Z,1629060278.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:38.518Z,1629060278.518 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:38.753Z,1629060278.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:38.753Z,1629060278.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:38.753Z,1629060278.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:38.754Z,1629060278.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:39.173Z,1629060279.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0054E,189,80,80,B1,FF
2021-08-15T20:44:39.173Z,1629060279.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:39.173Z,1629060279.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:39.175Z,1629060279.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:39.522Z,1629060279.522 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:39.573Z,1629060279.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:39.980Z,1629060279.980 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00556,189,80,80,C6,FF
2021-08-15T20:44:39.981Z,1629060279.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:39.988Z,1629060279.988 [Micromodem](INFO): Nmea in: $SNTTA,0.070516,0.196142,,,204440.41*51

2021-08-15T20:44:40.439Z,1629060280.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 53.724670 deg, deltaT: 4.460144 s, approachRate: 0.107620 m/s, LOS rate: 0.075428 deg/s, posRepo size: 4
2021-08-15T20:44:40.526Z,1629060280.526 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:41.530Z,1629060281.530 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T20:44:41.628Z,1629060281.628 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T20:44:41.628Z,1629060281.628 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T20:44:41.628Z,1629060281.628 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T20:44:41.663Z,1629060281.663 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T20:44:42.097Z,1629060282.097 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T20:44:42.135Z,1629060282.135 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005900
CHAN A1 (24V): -0.023229
CHAN A2 (12V): -0.005293
CHAN A3 (5V): -0.001740
CHAN B0 (3.3V): 0.000782
CHAN B1 (3.15aV): 0.000484
CHAN B2 (3.15bV): 0.000726
CHAN B3 (GND): 0.001918
OPEN: 0.006468
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T20:44:42.822Z,1629060282.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:42.844Z,1629060282.844 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T20:44:42.844Z,1629060282.844 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T20:44:43.209Z,1629060283.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:43.209Z,1629060283.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:43.209Z,1629060283.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:43.210Z,1629060283.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:43.609Z,1629060283.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00556,189,80,80,C6,FF
2021-08-15T20:44:43.609Z,1629060283.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:43.609Z,1629060283.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:43.611Z,1629060283.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:44.010Z,1629060284.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:44.421Z,1629060284.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00561,189,80,80,98,FF
2021-08-15T20:44:44.422Z,1629060284.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:44.846Z,1629060284.846 [Micromodem](INFO): Nmea in: $SNTTA,0.042867,,,,204444.84*41

2021-08-15T20:44:44.886Z,1629060284.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 53.862370 deg, deltaT: 4.417959 s, approachRate: 0.149390 m/s, LOS rate: 0.031168 deg/s, posRepo size: 4
2021-08-15T20:44:47.293Z,1629060287.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:47.645Z,1629060287.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:47.645Z,1629060287.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:47.646Z,1629060287.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:47.647Z,1629060287.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:48.045Z,1629060288.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00561,189,80,80,98,FF
2021-08-15T20:44:48.045Z,1629060288.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:48.045Z,1629060288.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:48.047Z,1629060288.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:48.461Z,1629060288.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:48.871Z,1629060288.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00569,189,80,80,8D,FF
2021-08-15T20:44:48.872Z,1629060288.872 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:49.295Z,1629060289.295 [Micromodem](INFO): Nmea in: $SNTTA,0.055833,,,,204449.28*4D

2021-08-15T20:44:49.310Z,1629060289.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 53.730728 deg, deltaT: 4.439842 s, approachRate: 0.108112 m/s, LOS rate: -0.029650 deg/s, posRepo size: 4
2021-08-15T20:44:51.711Z,1629060291.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:52.086Z,1629060292.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:52.086Z,1629060292.086 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:52.086Z,1629060292.086 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:52.087Z,1629060292.087 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:52.493Z,1629060292.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00569,189,80,80,8D,FF
2021-08-15T20:44:52.493Z,1629060292.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:52.493Z,1629060292.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:52.495Z,1629060292.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:52.896Z,1629060292.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:53.305Z,1629060293.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0056D,18A,80,80,A6,FF
2021-08-15T20:44:53.306Z,1629060293.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:53.741Z,1629060293.741 [Micromodem](INFO): Nmea in: $SNTTA,0.047276,,,,204453.73*40

2021-08-15T20:44:53.830Z,1629060293.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 53.547437 deg, deltaT: 4.462947 s, approachRate: 0.053777 m/s, LOS rate: -0.041070 deg/s, posRepo size: 4
2021-08-15T20:44:56.171Z,1629060296.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:44:56.529Z,1629060296.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:44:56.529Z,1629060296.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:44:56.529Z,1629060296.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:44:56.530Z,1629060296.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:44:56.938Z,1629060296.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0056D,18A,80,80,A6,FF
2021-08-15T20:44:56.938Z,1629060296.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:44:56.938Z,1629060296.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:44:56.940Z,1629060296.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:44:57.353Z,1629060297.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:44:57.749Z,1629060297.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057B,189,80,80,5D,FF
2021-08-15T20:44:57.750Z,1629060297.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:44:57.762Z,1629060297.762 [Micromodem](INFO): Nmea in: $SNTTA,0.041608,0.313877,,,204458.17*55

2021-08-15T20:44:58.224Z,1629060298.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.680000 m, bearing: 53.212774 deg, deltaT: 4.469377 s, approachRate: 0.187946 m/s, LOS rate: -0.074879 deg/s, posRepo size: 4
2021-08-15T20:45:00.628Z,1629060300.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:00.973Z,1629060300.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:00.973Z,1629060300.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:00.973Z,1629060300.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:00.974Z,1629060300.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:01.390Z,1629060301.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057B,189,80,80,5D,FF
2021-08-15T20:45:01.390Z,1629060301.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:01.390Z,1629060301.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:01.392Z,1629060301.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:01.833Z,1629060301.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:02.185Z,1629060302.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0057D,189,80,80,BA,FF
2021-08-15T20:45:02.186Z,1629060302.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:02.629Z,1629060302.629 [Micromodem](INFO): Nmea in: $SNTTA,0.042594,,,,204502.63*4A

2021-08-15T20:45:02.654Z,1629060302.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 52.747044 deg, deltaT: 4.398474 s, approachRate: 0.027283 m/s, LOS rate: -0.105884 deg/s, posRepo size: 4
2021-08-15T20:45:05.030Z,1629060305.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:05.414Z,1629060305.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:05.414Z,1629060305.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:05.414Z,1629060305.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:05.415Z,1629060305.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:05.837Z,1629060305.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0057D,189,80,80,BA,FF
2021-08-15T20:45:05.837Z,1629060305.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:05.837Z,1629060305.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:05.839Z,1629060305.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:06.229Z,1629060306.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:06.641Z,1629060306.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4E6,000,00587,189,80,80,B6,FF
2021-08-15T20:45:06.642Z,1629060306.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:07.065Z,1629060307.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204507.07*5D

2021-08-15T20:45:07.087Z,1629060307.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 54.105992 deg, deltaT: 4.463585 s, approachRate: 0.134420 m/s, LOS rate: 0.304452 deg/s, posRepo size: 4
2021-08-15T20:45:09.485Z,1629060309.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:09.865Z,1629060309.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:09.865Z,1629060309.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:09.866Z,1629060309.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:09.866Z,1629060309.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:10.269Z,1629060310.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4E6,000,00587,189,80,80,B6,FF
2021-08-15T20:45:10.269Z,1629060310.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:10.269Z,1629060310.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:10.271Z,1629060310.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:10.673Z,1629060310.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:11.073Z,1629060311.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EB,000,00591,18A,80,80,BB,FF
2021-08-15T20:45:11.074Z,1629060311.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:11.533Z,1629060311.533 [Micromodem](INFO): Nmea in: $SNTTA,0.079426,,,,204511.50*48

2021-08-15T20:45:11.560Z,1629060311.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 53.425811 deg, deltaT: 4.393652 s, approachRate: 0.136560 m/s, LOS rate: -0.154810 deg/s, posRepo size: 4
2021-08-15T20:45:13.948Z,1629060313.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:14.312Z,1629060314.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:14.313Z,1629060314.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:14.313Z,1629060314.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:14.315Z,1629060314.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:14.715Z,1629060314.715 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EB,000,00591,18A,80,80,BB,FF
2021-08-15T20:45:14.716Z,1629060314.716 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:14.716Z,1629060314.716 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:14.718Z,1629060314.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:15.117Z,1629060315.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:15.521Z,1629060315.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4EE,000,00599,189,80,80,86,FF
2021-08-15T20:45:15.522Z,1629060315.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:15.965Z,1629060315.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204515.95*55

2021-08-15T20:45:16.037Z,1629060316.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.480000 m, bearing: 52.697484 deg, deltaT: 4.486526 s, approachRate: 0.106988 m/s, LOS rate: -0.162337 deg/s, posRepo size: 4
2021-08-15T20:45:18.411Z,1629060318.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:18.753Z,1629060318.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:18.754Z,1629060318.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:18.754Z,1629060318.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:18.755Z,1629060318.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:19.153Z,1629060319.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4EE,000,00599,189,80,80,86,FF
2021-08-15T20:45:19.153Z,1629060319.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:19.153Z,1629060319.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:19.155Z,1629060319.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:19.564Z,1629060319.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:19.961Z,1629060319.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4BA,000,005A6,189,80,80,97,FF
2021-08-15T20:45:19.962Z,1629060319.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:19.965Z,1629060319.965 [Micromodem](INFO): Nmea in: $SNTTA,0.041196,0.207044,,,204520.39*5B

2021-08-15T20:45:20.438Z,1629060320.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.259998 m, bearing: 55.037606 deg, deltaT: 4.451672 s, approachRate: 0.175215 m/s, LOS rate: 0.525673 deg/s, posRepo size: 4
2021-08-15T20:45:22.809Z,1629060322.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:23.197Z,1629060323.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:23.197Z,1629060323.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:23.197Z,1629060323.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:23.198Z,1629060323.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:23.597Z,1629060323.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4BA,000,005A6,189,80,80,97,FF
2021-08-15T20:45:23.597Z,1629060323.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:23.598Z,1629060323.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:23.599Z,1629060323.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:24.013Z,1629060324.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:24.409Z,1629060324.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47F,000,005B4,189,80,80,B2,FF
2021-08-15T20:45:24.410Z,1629060324.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:24.837Z,1629060324.837 [Micromodem](INFO): Nmea in: $SNTTA,0.061712,,,,204524.83*4D

2021-08-15T20:45:24.877Z,1629060324.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.099998 m, bearing: 57.934300 deg, deltaT: 4.428737 s, approachRate: 0.189670 m/s, LOS rate: 0.654068 deg/s, posRepo size: 4
2021-08-15T20:45:27.274Z,1629060327.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:27.638Z,1629060327.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:27.639Z,1629060327.639 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:27.640Z,1629060327.640 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:27.642Z,1629060327.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:28.043Z,1629060328.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47F,000,005B4,189,80,80,B2,FF
2021-08-15T20:45:28.043Z,1629060328.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:28.043Z,1629060328.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:28.045Z,1629060328.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:28.461Z,1629060328.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:29.294Z,1629060329.294 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204529.28*5C

2021-08-15T20:45:30.106Z,1629060330.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:31.687Z,1629060331.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,B2,FF
2021-08-15T20:45:31.687Z,1629060331.687 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,B2,FF
2021-08-15T20:45:31.687Z,1629060331.687 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:45:32.922Z,1629060332.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:33.301Z,1629060333.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:33.301Z,1629060333.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:33.301Z,1629060333.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:33.302Z,1629060333.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:33.705Z,1629060333.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,B2,FF
2021-08-15T20:45:33.705Z,1629060333.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:33.705Z,1629060333.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:33.707Z,1629060333.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:34.104Z,1629060334.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:34.521Z,1629060334.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4DA,000,005C9,18A,80,80,72,FF
2021-08-15T20:45:34.521Z,1629060334.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:34.937Z,1629060334.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204534.94*57

2021-08-15T20:45:34.959Z,1629060334.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 54.273462 deg, deltaT: 10.117063 s, approachRate: 0.124542 m/s, LOS rate: -0.361848 deg/s, posRepo size: 4
2021-08-15T20:45:37.392Z,1629060337.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:37.772Z,1629060337.772 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:37.772Z,1629060337.772 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:37.773Z,1629060337.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:37.775Z,1629060337.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:38.149Z,1629060338.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4DA,000,005C9,18A,80,80,72,FF
2021-08-15T20:45:38.149Z,1629060338.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:38.149Z,1629060338.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:38.151Z,1629060338.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:38.563Z,1629060338.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:38.949Z,1629060338.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005CF,189,80,80,B7,FF
2021-08-15T20:45:38.949Z,1629060338.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:39.409Z,1629060339.409 [Micromodem](INFO): Nmea in: $SNTTA,0.034149,,,,204539.38*49

2021-08-15T20:45:39.435Z,1629060339.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 53.263509 deg, deltaT: 4.412332 s, approachRate: 0.081589 m/s, LOS rate: -0.228893 deg/s, posRepo size: 4
2021-08-15T20:45:41.870Z,1629060341.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:42.181Z,1629060342.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:42.181Z,1629060342.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:42.181Z,1629060342.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:42.182Z,1629060342.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:42.594Z,1629060342.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005CF,189,80,80,B7,FF
2021-08-15T20:45:42.594Z,1629060342.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:42.594Z,1629060342.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:42.598Z,1629060342.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:43.001Z,1629060343.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:43.399Z,1629060343.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005D7,189,80,80,A9,FF
2021-08-15T20:45:43.399Z,1629060343.399 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:43.861Z,1629060343.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204543.83*51

2021-08-15T20:45:43.914Z,1629060343.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 54.700403 deg, deltaT: 4.483293 s, approachRate: 0.107065 m/s, LOS rate: 0.320500 deg/s, posRepo size: 4
2021-08-15T20:45:46.260Z,1629060346.260 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:46.637Z,1629060346.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:46.637Z,1629060346.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:46.637Z,1629060346.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:46.638Z,1629060346.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:47.029Z,1629060347.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005D7,189,80,80,A9,FF
2021-08-15T20:45:47.029Z,1629060347.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:47.029Z,1629060347.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:47.031Z,1629060347.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:47.437Z,1629060347.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:47.857Z,1629060347.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005E0,189,80,80,7D,FF
2021-08-15T20:45:47.858Z,1629060347.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:48.279Z,1629060348.279 [Micromodem](INFO): Nmea in: $SNTTA,,0.308956,,,204548.26*4A

2021-08-15T20:45:48.358Z,1629060348.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.739998 m, bearing: 56.039827 deg, deltaT: 4.469550 s, approachRate: 0.120817 m/s, LOS rate: 0.299678 deg/s, posRepo size: 4
2021-08-15T20:45:50.717Z,1629060350.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:51.073Z,1629060351.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:51.073Z,1629060351.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:51.073Z,1629060351.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:51.074Z,1629060351.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:51.485Z,1629060351.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005E0,189,80,80,7D,FF
2021-08-15T20:45:51.485Z,1629060351.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:51.486Z,1629060351.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:51.487Z,1629060351.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:51.896Z,1629060351.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:52.297Z,1629060352.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005EB,189,80,80,7B,FF
2021-08-15T20:45:52.298Z,1629060352.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:52.713Z,1629060352.713 [Micromodem](INFO): Nmea in: $SNTTA,0.083660,,,,204552.72*4A

2021-08-15T20:45:52.751Z,1629060352.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.399998 m, bearing: 57.372291 deg, deltaT: 4.440761 s, approachRate: 0.148623 m/s, LOS rate: 0.300053 deg/s, posRepo size: 4
2021-08-15T20:45:55.126Z,1629060355.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:55.525Z,1629060355.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:55.525Z,1629060355.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:55.525Z,1629060355.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:55.526Z,1629060355.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:45:55.920Z,1629060355.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005EB,189,80,80,7B,FF
2021-08-15T20:45:55.921Z,1629060355.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:45:55.921Z,1629060355.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:45:55.923Z,1629060355.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:45:56.353Z,1629060356.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:45:56.737Z,1629060356.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005F3,188,80,80,B1,FF
2021-08-15T20:45:56.738Z,1629060356.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:45:57.161Z,1629060357.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204557.16*58

2021-08-15T20:45:57.191Z,1629060357.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.880001 m, bearing: 59.100322 deg, deltaT: 4.398079 s, approachRate: 0.109139 m/s, LOS rate: 0.392906 deg/s, posRepo size: 4
2021-08-15T20:45:59.606Z,1629060359.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:45:59.950Z,1629060359.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:45:59.950Z,1629060359.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:45:59.951Z,1629060359.951 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:45:59.952Z,1629060359.952 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:00.386Z,1629060360.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005F3,188,80,80,B1,FF
2021-08-15T20:46:00.386Z,1629060360.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:00.386Z,1629060360.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:00.387Z,1629060360.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:00.777Z,1629060360.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:01.173Z,1629060361.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,005FD,18A,80,80,7F,FF
2021-08-15T20:46:01.174Z,1629060361.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:01.602Z,1629060361.602 [Micromodem](INFO): Nmea in: $SNTTA,0.048520,,,,204601.62*4E

2021-08-15T20:46:01.645Z,1629060361.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 61.052541 deg, deltaT: 4.412009 s, approachRate: 0.135992 m/s, LOS rate: 0.442478 deg/s, posRepo size: 4
2021-08-15T20:46:04.062Z,1629060364.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:04.409Z,1629060364.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:04.409Z,1629060364.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:04.409Z,1629060364.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:04.410Z,1629060364.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:04.814Z,1629060364.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,005FD,18A,80,80,7F,FF
2021-08-15T20:46:04.814Z,1629060364.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:04.814Z,1629060364.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:04.816Z,1629060364.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:05.213Z,1629060365.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:05.621Z,1629060365.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00609,188,80,80,93,FF
2021-08-15T20:46:05.622Z,1629060365.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:06.049Z,1629060366.049 [Micromodem](INFO): Nmea in: $SNTTA,0.415581,,,,204606.05*4F

2021-08-15T20:46:06.096Z,1629060366.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.199997 m, bearing: 62.774493 deg, deltaT: 4.482880 s, approachRate: 0.160610 m/s, LOS rate: 0.384117 deg/s, posRepo size: 4
2021-08-15T20:46:08.482Z,1629060368.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:08.849Z,1629060368.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:08.849Z,1629060368.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:08.849Z,1629060368.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:08.850Z,1629060368.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:09.262Z,1629060369.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00609,188,80,80,93,FF
2021-08-15T20:46:09.262Z,1629060369.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:09.262Z,1629060369.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:09.265Z,1629060369.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:09.657Z,1629060369.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:10.053Z,1629060370.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00615,18A,80,80,7E,FF
2021-08-15T20:46:10.054Z,1629060370.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:10.501Z,1629060370.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.920002 m, bearing: 63.738526 deg, deltaT: 4.441490 s, approachRate: 0.162109 m/s, LOS rate: 0.217052 deg/s, posRepo size: 4
2021-08-15T20:46:12.910Z,1629060372.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:13.297Z,1629060373.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:13.297Z,1629060373.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:13.297Z,1629060373.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:13.298Z,1629060373.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:13.693Z,1629060373.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00615,18A,80,80,7E,FF
2021-08-15T20:46:13.694Z,1629060373.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:13.694Z,1629060373.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:13.695Z,1629060373.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:14.105Z,1629060374.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:14.510Z,1629060374.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0061A,188,80,80,9C,FF
2021-08-15T20:46:14.510Z,1629060374.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:14.939Z,1629060374.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204614.94*56

2021-08-15T20:46:14.955Z,1629060374.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 64.311442 deg, deltaT: 4.422400 s, approachRate: 0.067835 m/s, LOS rate: 0.129549 deg/s, posRepo size: 4
2021-08-15T20:46:17.382Z,1629060377.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:17.733Z,1629060377.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:17.733Z,1629060377.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:17.733Z,1629060377.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:17.735Z,1629060377.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:18.137Z,1629060378.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0061A,188,80,80,9C,FF
2021-08-15T20:46:18.137Z,1629060378.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:18.137Z,1629060378.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:18.139Z,1629060378.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:18.545Z,1629060378.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:18.957Z,1629060378.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00622,18A,80,80,71,FF
2021-08-15T20:46:18.958Z,1629060378.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:19.398Z,1629060379.398 [Micromodem](INFO): Nmea in: $SNTTA,0.061489,,,,204619.37*4E

2021-08-15T20:46:19.424Z,1629060379.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.699997 m, bearing: 64.111933 deg, deltaT: 4.462084 s, approachRate: 0.107574 m/s, LOS rate: -0.044712 deg/s, posRepo size: 4
2021-08-15T20:46:21.864Z,1629060381.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:22.181Z,1629060382.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:22.181Z,1629060382.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:22.181Z,1629060382.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:22.182Z,1629060382.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:22.587Z,1629060382.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00622,18A,80,80,71,FF
2021-08-15T20:46:22.587Z,1629060382.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:22.587Z,1629060382.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:22.589Z,1629060382.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:22.993Z,1629060382.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:23.389Z,1629060383.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00629,189,80,80,8B,FF
2021-08-15T20:46:23.390Z,1629060383.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:23.854Z,1629060383.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204623.82*55

2021-08-15T20:46:23.889Z,1629060383.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 63.113216 deg, deltaT: 4.417666 s, approachRate: 0.095073 m/s, LOS rate: -0.226073 deg/s, posRepo size: 4
2021-08-15T20:46:26.245Z,1629060386.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:26.625Z,1629060386.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:26.625Z,1629060386.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:26.625Z,1629060386.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:26.626Z,1629060386.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:27.032Z,1629060387.032 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00629,189,80,80,8B,FF
2021-08-15T20:46:27.033Z,1629060387.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:27.033Z,1629060387.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:27.034Z,1629060387.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:27.445Z,1629060387.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:27.845Z,1629060387.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00631,189,80,80,72,FF
2021-08-15T20:46:27.846Z,1629060387.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:28.277Z,1629060388.277 [Micromodem](INFO): Nmea in: $SNTTA,0.062122,,,,204628.27*4A

2021-08-15T20:46:28.353Z,1629060388.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 62.666883 deg, deltaT: 4.521232 s, approachRate: 0.106166 m/s, LOS rate: -0.098719 deg/s, posRepo size: 4
2021-08-15T20:46:30.712Z,1629060390.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:31.061Z,1629060391.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:31.061Z,1629060391.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:31.061Z,1629060391.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:31.062Z,1629060391.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:31.495Z,1629060391.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00631,189,80,80,72,FF
2021-08-15T20:46:31.504Z,1629060391.504 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:31.504Z,1629060391.504 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:31.506Z,1629060391.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:31.877Z,1629060391.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:32.285Z,1629060392.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0063B,189,80,80,93,FF
2021-08-15T20:46:32.286Z,1629060392.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:32.707Z,1629060392.707 [Micromodem](INFO): Nmea in: $SNTTA,0.029979,,,,204632.74*4E

2021-08-15T20:46:32.756Z,1629060392.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 62.834742 deg, deltaT: 4.407729 s, approachRate: 0.136124 m/s, LOS rate: 0.038083 deg/s, posRepo size: 4
2021-08-15T20:46:35.122Z,1629060395.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:35.517Z,1629060395.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:35.518Z,1629060395.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:35.518Z,1629060395.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:35.519Z,1629060395.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:35.913Z,1629060395.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0063B,189,80,80,93,FF
2021-08-15T20:46:35.913Z,1629060395.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:35.913Z,1629060395.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:35.915Z,1629060395.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:36.348Z,1629060396.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:36.721Z,1629060396.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00647,189,80,80,8E,FF
2021-08-15T20:46:36.722Z,1629060396.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:37.172Z,1629060397.172 [Micromodem](INFO): Nmea in: $SNTTA,0.048589,,,,204637.15*48

2021-08-15T20:46:37.195Z,1629060397.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 63.155426 deg, deltaT: 4.417032 s, approachRate: 0.163007 m/s, LOS rate: 0.072602 deg/s, posRepo size: 4
2021-08-15T20:46:39.626Z,1629060399.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:39.956Z,1629060399.956 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:39.957Z,1629060399.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:39.957Z,1629060399.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:39.958Z,1629060399.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:40.382Z,1629060400.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00647,189,80,80,8E,FF
2021-08-15T20:46:40.382Z,1629060400.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:40.382Z,1629060400.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:40.385Z,1629060400.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:40.765Z,1629060400.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:41.169Z,1629060401.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0064E,189,80,80,BD,FF
2021-08-15T20:46:41.170Z,1629060401.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:41.588Z,1629060401.588 [Micromodem](INFO): Nmea in: $SNTTA,0.071597,,,,204641.62*4C

2021-08-15T20:46:41.643Z,1629060401.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 63.734401 deg, deltaT: 4.468089 s, approachRate: 0.094000 m/s, LOS rate: 0.129580 deg/s, posRepo size: 4
2021-08-15T20:46:44.045Z,1629060404.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:44.405Z,1629060404.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:44.405Z,1629060404.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:44.405Z,1629060404.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:44.406Z,1629060404.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:44.806Z,1629060404.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0064E,189,80,80,BD,FF
2021-08-15T20:46:44.806Z,1629060404.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:44.806Z,1629060404.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:44.808Z,1629060404.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:45.209Z,1629060405.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:46.030Z,1629060406.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204646.04*58

2021-08-15T20:46:46.821Z,1629060406.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,037C9,189,80,80,6A,FF
2021-08-15T20:46:46.822Z,1629060406.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:47.279Z,1629060407.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 819.360046 m, bearing: 64.292291 deg, deltaT: 5.608018 s, approachRate: 135.523819 m/s, LOS rate: 0.099481 deg/s, posRepo size: 4
2021-08-15T20:46:49.687Z,1629060409.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:50.053Z,1629060410.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:50.053Z,1629060410.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:50.053Z,1629060410.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:50.054Z,1629060410.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:50.457Z,1629060410.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,037C9,189,80,80,6A,FF
2021-08-15T20:46:50.457Z,1629060410.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:50.457Z,1629060410.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:50.459Z,1629060410.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:50.870Z,1629060410.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:51.265Z,1629060411.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00664,189,80,80,92,FF
2021-08-15T20:46:51.266Z,1629060411.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:51.706Z,1629060411.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204651.70*5D

2021-08-15T20:46:51.731Z,1629060411.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 64.726376 deg, deltaT: 4.502407 s, approachRate: -168.509888 m/s, LOS rate: 0.096412 deg/s, posRepo size: 4
2021-08-15T20:46:54.146Z,1629060414.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:54.497Z,1629060414.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:54.497Z,1629060414.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:54.497Z,1629060414.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:54.498Z,1629060414.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:54.909Z,1629060414.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00664,189,80,80,92,FF
2021-08-15T20:46:54.909Z,1629060414.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:54.909Z,1629060414.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:54.911Z,1629060414.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:55.323Z,1629060415.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:46:55.717Z,1629060415.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0066E,189,80,80,99,FF
2021-08-15T20:46:55.718Z,1629060415.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:46:56.129Z,1629060416.129 [Micromodem](INFO): Nmea in: $SNTTA,0.356747,0.356759,,,204656.15*56

2021-08-15T20:46:56.184Z,1629060416.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 65.234447 deg, deltaT: 4.438671 s, approachRate: 0.135175 m/s, LOS rate: 0.114465 deg/s, posRepo size: 4
2021-08-15T20:46:58.585Z,1629060418.585 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:46:58.945Z,1629060418.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:46:58.946Z,1629060418.946 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:46:58.946Z,1629060418.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:46:58.947Z,1629060418.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:46:59.385Z,1629060419.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0066E,189,80,80,99,FF
2021-08-15T20:46:59.385Z,1629060419.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:46:59.385Z,1629060419.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:46:59.387Z,1629060419.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:46:59.753Z,1629060419.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:00.151Z,1629060420.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00676,18A,80,80,9C,FF
2021-08-15T20:47:00.151Z,1629060420.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:00.575Z,1629060420.575 [Micromodem](INFO): Nmea in: $SNTTA,0.158679,,,,204700.62*41

2021-08-15T20:47:00.621Z,1629060420.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 65.496494 deg, deltaT: 4.428739 s, approachRate: 0.108384 m/s, LOS rate: 0.059170 deg/s, posRepo size: 4
2021-08-15T20:47:03.018Z,1629060423.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:03.389Z,1629060423.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:03.389Z,1629060423.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:03.389Z,1629060423.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:03.390Z,1629060423.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:03.789Z,1629060423.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00676,18A,80,80,9C,FF
2021-08-15T20:47:03.789Z,1629060423.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:03.789Z,1629060423.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:03.791Z,1629060423.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:04.204Z,1629060424.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:04.597Z,1629060424.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0067D,189,80,80,9D,FF
2021-08-15T20:47:04.598Z,1629060424.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:05.038Z,1629060425.038 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204705.03*59

2021-08-15T20:47:05.059Z,1629060425.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.160004 m, bearing: 65.836528 deg, deltaT: 4.452435 s, approachRate: 0.094331 m/s, LOS rate: 0.076370 deg/s, posRepo size: 4
2021-08-15T20:47:07.461Z,1629060427.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:07.861Z,1629060427.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:07.861Z,1629060427.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:07.862Z,1629060427.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:07.862Z,1629060427.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:08.234Z,1629060428.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0067D,189,80,80,9D,FF
2021-08-15T20:47:08.234Z,1629060428.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:08.234Z,1629060428.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:08.237Z,1629060428.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:08.648Z,1629060428.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:09.041Z,1629060429.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00689,189,80,80,A4,FF
2021-08-15T20:47:09.042Z,1629060429.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:09.485Z,1629060429.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204709.47*55

2021-08-15T20:47:09.511Z,1629060429.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.879997 m, bearing: 65.921250 deg, deltaT: 4.467390 s, approachRate: 0.161166 m/s, LOS rate: 0.018964 deg/s, posRepo size: 4
2021-08-15T20:47:11.958Z,1629060431.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:12.282Z,1629060432.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:12.283Z,1629060432.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:12.283Z,1629060432.283 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:12.285Z,1629060432.285 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:12.685Z,1629060432.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00689,189,80,80,A4,FF
2021-08-15T20:47:12.685Z,1629060432.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:12.685Z,1629060432.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:12.687Z,1629060432.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:13.093Z,1629060433.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:13.485Z,1629060433.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00695,189,80,80,98,FF
2021-08-15T20:47:13.486Z,1629060433.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:13.937Z,1629060433.937 [Micromodem](INFO): Nmea in: $SNTTA,0.315393,,,,204713.93*47

2021-08-15T20:47:13.995Z,1629060433.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 66.047253 deg, deltaT: 4.416830 s, approachRate: 0.163014 m/s, LOS rate: 0.028528 deg/s, posRepo size: 4
2021-08-15T20:47:16.381Z,1629060436.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:16.721Z,1629060436.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:16.721Z,1629060436.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:16.721Z,1629060436.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:16.722Z,1629060436.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:17.121Z,1629060437.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00695,189,80,80,98,FF
2021-08-15T20:47:17.121Z,1629060437.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:17.121Z,1629060437.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:17.123Z,1629060437.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:17.529Z,1629060437.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:17.937Z,1629060437.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0069A,189,80,80,AC,FF
2021-08-15T20:47:17.938Z,1629060437.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:18.393Z,1629060438.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204718.36*53

2021-08-15T20:47:18.418Z,1629060438.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 65.897071 deg, deltaT: 4.452554 s, approachRate: 0.067376 m/s, LOS rate: -0.033729 deg/s, posRepo size: 4
2021-08-15T20:47:20.774Z,1629060440.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:21.161Z,1629060441.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:21.161Z,1629060441.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:21.161Z,1629060441.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:21.162Z,1629060441.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:21.593Z,1629060441.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0069A,189,80,80,AC,FF
2021-08-15T20:47:21.593Z,1629060441.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:21.593Z,1629060441.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:21.595Z,1629060441.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:21.978Z,1629060441.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:22.389Z,1629060442.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A0,189,80,80,AA,FF
2021-08-15T20:47:22.390Z,1629060442.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:22.815Z,1629060442.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 66.107618 deg, deltaT: 4.457415 s, approachRate: 0.080767 m/s, LOS rate: 0.047235 deg/s, posRepo size: 4
2021-08-15T20:47:25.227Z,1629060445.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:25.613Z,1629060445.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:25.613Z,1629060445.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:25.613Z,1629060445.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:25.614Z,1629060445.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:26.017Z,1629060446.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A0,189,80,80,AA,FF
2021-08-15T20:47:26.017Z,1629060446.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:26.017Z,1629060446.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:26.019Z,1629060446.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:26.417Z,1629060446.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:26.825Z,1629060446.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006A8,189,80,80,94,FF
2021-08-15T20:47:26.825Z,1629060446.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:27.277Z,1629060447.277 [Micromodem](INFO): Nmea in: $SNTTA,0.049056,,,,204727.25*4D

2021-08-15T20:47:27.303Z,1629060447.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 66.324047 deg, deltaT: 4.419627 s, approachRate: 0.108604 m/s, LOS rate: 0.048970 deg/s, posRepo size: 4
2021-08-15T20:47:29.689Z,1629060449.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:30.062Z,1629060450.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:30.062Z,1629060450.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:30.062Z,1629060450.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:30.063Z,1629060450.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:30.453Z,1629060450.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006A8,189,80,80,94,FF
2021-08-15T20:47:30.453Z,1629060450.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:30.453Z,1629060450.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:30.455Z,1629060450.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:30.870Z,1629060450.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:31.263Z,1629060451.263 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006B3,189,80,80,88,FF
2021-08-15T20:47:31.264Z,1629060451.264 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:31.701Z,1629060451.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204731.69*52

2021-08-15T20:47:31.737Z,1629060451.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 66.468280 deg, deltaT: 4.409835 s, approachRate: 0.149666 m/s, LOS rate: 0.032707 deg/s, posRepo size: 4
2021-08-15T20:47:34.149Z,1629060454.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:34.497Z,1629060454.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:34.497Z,1629060454.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:34.497Z,1629060454.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:34.498Z,1629060454.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:34.906Z,1629060454.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006B3,189,80,80,88,FF
2021-08-15T20:47:34.906Z,1629060454.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:34.907Z,1629060454.907 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:34.909Z,1629060454.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:35.342Z,1629060455.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:35.710Z,1629060455.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C0,189,80,80,92,FF
2021-08-15T20:47:35.711Z,1629060455.711 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:36.121Z,1629060456.121 [Micromodem](INFO): Nmea in: $SNTTA,0.358746,0.359165,,,204736.14*59

2021-08-15T20:47:36.169Z,1629060456.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 66.874225 deg, deltaT: 4.475680 s, approachRate: 0.174275 m/s, LOS rate: 0.090700 deg/s, posRepo size: 4
2021-08-15T20:47:38.571Z,1629060458.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:38.937Z,1629060458.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:38.937Z,1629060458.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:38.937Z,1629060458.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:38.938Z,1629060458.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:39.373Z,1629060459.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C0,189,80,80,92,FF
2021-08-15T20:47:39.373Z,1629060459.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:39.373Z,1629060459.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:39.375Z,1629060459.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:39.749Z,1629060459.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:40.153Z,1629060460.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006C9,189,80,80,77,FF
2021-08-15T20:47:40.154Z,1629060460.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:40.575Z,1629060460.575 [Micromodem](INFO): Nmea in: $SNTTA,0.114049,,,,204740.61*4B

2021-08-15T20:47:40.629Z,1629060460.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 67.281509 deg, deltaT: 4.462971 s, approachRate: 0.120998 m/s, LOS rate: 0.091259 deg/s, posRepo size: 4
2021-08-15T20:47:42.994Z,1629060462.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:43.385Z,1629060463.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:43.385Z,1629060463.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:43.385Z,1629060463.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:43.386Z,1629060463.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:43.798Z,1629060463.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006C9,189,80,80,77,FF
2021-08-15T20:47:43.798Z,1629060463.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:43.798Z,1629060463.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:43.805Z,1629060463.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:44.197Z,1629060464.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:44.590Z,1629060464.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006D5,189,80,80,A3,FF
2021-08-15T20:47:44.590Z,1629060464.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:45.025Z,1629060465.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204745.04*5A

2021-08-15T20:47:45.047Z,1629060465.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 67.746604 deg, deltaT: 4.393606 s, approachRate: 0.163873 m/s, LOS rate: 0.105857 deg/s, posRepo size: 4
2021-08-15T20:47:47.467Z,1629060467.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:47.825Z,1629060467.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:47.825Z,1629060467.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:47.825Z,1629060467.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:47.826Z,1629060467.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:48.230Z,1629060468.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006D5,189,80,80,A3,FF
2021-08-15T20:47:48.230Z,1629060468.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:48.231Z,1629060468.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:48.237Z,1629060468.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:48.636Z,1629060468.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:49.041Z,1629060469.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006DE,189,80,80,81,FF
2021-08-15T20:47:49.042Z,1629060469.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:49.485Z,1629060469.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204749.48*5E

2021-08-15T20:47:49.511Z,1629060469.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.980003 m, bearing: 68.185690 deg, deltaT: 4.529926 s, approachRate: 0.119207 m/s, LOS rate: 0.096930 deg/s, posRepo size: 4
2021-08-15T20:47:51.937Z,1629060471.937 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:52.277Z,1629060472.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:52.277Z,1629060472.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:52.277Z,1629060472.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:52.278Z,1629060472.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:52.685Z,1629060472.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006DE,189,80,80,81,FF
2021-08-15T20:47:52.685Z,1629060472.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:52.685Z,1629060472.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:52.687Z,1629060472.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:53.089Z,1629060473.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:53.481Z,1629060473.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,006E9,189,80,80,A0,FF
2021-08-15T20:47:53.482Z,1629060473.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:47:53.945Z,1629060473.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204753.92*52

2021-08-15T20:47:53.999Z,1629060473.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 68.175376 deg, deltaT: 4.386373 s, approachRate: 0.150465 m/s, LOS rate: -0.002351 deg/s, posRepo size: 4
2021-08-15T20:47:56.389Z,1629060476.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:56.725Z,1629060476.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:47:56.725Z,1629060476.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:47:56.725Z,1629060476.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:47:56.726Z,1629060476.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:47:57.129Z,1629060477.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,006E9,189,80,80,A0,FF
2021-08-15T20:47:57.129Z,1629060477.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:47:57.129Z,1629060477.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:47:57.131Z,1629060477.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:47:57.534Z,1629060477.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:47:57.962Z,1629060477.962 [Micromodem](INFO): Nmea in: $SNTTA,0.317098,0.317110,,,204758.37*57

2021-08-15T20:47:59.162Z,1629060479.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:47:59.969Z,1629060479.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0648D,18A,80,80,B4,FF
2021-08-15T20:47:59.970Z,1629060479.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:00.431Z,1629060480.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1506.959961 m, bearing: 68.090955 deg, deltaT: 6.493518 s, approachRate: 221.500885 m/s, LOS rate: -0.013001 deg/s, posRepo size: 4
2021-08-15T20:48:02.794Z,1629060482.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:03.177Z,1629060483.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:03.177Z,1629060483.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:03.177Z,1629060483.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:03.178Z,1629060483.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:03.589Z,1629060483.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0648D,18A,80,80,B4,FF
2021-08-15T20:48:03.589Z,1629060483.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:03.590Z,1629060483.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:03.591Z,1629060483.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:03.988Z,1629060483.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:04.401Z,1629060484.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCC,000,006FE,188,80,80,76,FF
2021-08-15T20:48:04.401Z,1629060484.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:04.814Z,1629060484.814 [Micromodem](INFO): Nmea in: $SNTTA,0.054600,0.424033,,,204804.83*5A

2021-08-15T20:48:04.836Z,1629060484.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 172.936742 deg, deltaT: 4.427219 s, approachRate: -324.596527 m/s, LOS rate: 23.682088 deg/s, posRepo size: 4
2021-08-15T20:48:07.239Z,1629060487.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:07.621Z,1629060487.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:07.621Z,1629060487.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:07.621Z,1629060487.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:07.622Z,1629060487.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:08.025Z,1629060488.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCC,000,006FE,188,80,80,76,FF
2021-08-15T20:48:08.025Z,1629060488.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:08.025Z,1629060488.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:08.027Z,1629060488.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:08.436Z,1629060488.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:08.833Z,1629060488.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00707,18A,80,80,95,FF
2021-08-15T20:48:08.834Z,1629060488.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:09.270Z,1629060489.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204809.26*5D

2021-08-15T20:48:09.290Z,1629060489.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 67.878891 deg, deltaT: 4.428468 s, approachRate: 0.121939 m/s, LOS rate: -23.723294 deg/s, posRepo size: 4
2021-08-15T20:48:11.696Z,1629060491.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:12.065Z,1629060492.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:12.065Z,1629060492.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:12.065Z,1629060492.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:12.066Z,1629060492.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:12.469Z,1629060492.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00707,18A,80,80,95,FF
2021-08-15T20:48:12.469Z,1629060492.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:12.469Z,1629060492.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:12.471Z,1629060492.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:12.876Z,1629060492.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:13.287Z,1629060493.287 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0070F,189,80,80,9D,FF
2021-08-15T20:48:13.287Z,1629060493.287 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:13.718Z,1629060493.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204813.71*54

2021-08-15T20:48:13.739Z,1629060493.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.919998 m, bearing: 67.767614 deg, deltaT: 4.486602 s, approachRate: 0.106984 m/s, LOS rate: -0.024802 deg/s, posRepo size: 4
2021-08-15T20:48:16.146Z,1629060496.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:16.509Z,1629060496.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:16.509Z,1629060496.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:16.509Z,1629060496.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:16.510Z,1629060496.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:16.917Z,1629060496.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0070F,189,80,80,9D,FF
2021-08-15T20:48:16.917Z,1629060496.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:16.917Z,1629060496.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:16.919Z,1629060496.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:17.343Z,1629060497.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:17.721Z,1629060497.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00717,189,80,80,B3,FF
2021-08-15T20:48:17.722Z,1629060497.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:18.149Z,1629060498.149 [Micromodem](INFO): Nmea in: $SNTTA,0.422899,0.422655,,,204818.16*50

2021-08-15T20:48:18.196Z,1629060498.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 67.479038 deg, deltaT: 4.397725 s, approachRate: 0.109148 m/s, LOS rate: -0.065619 deg/s, posRepo size: 4
2021-08-15T20:48:20.605Z,1629060500.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:20.957Z,1629060500.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:20.957Z,1629060500.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:20.957Z,1629060500.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:20.958Z,1629060500.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:21.373Z,1629060501.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00717,189,80,80,B3,FF
2021-08-15T20:48:21.373Z,1629060501.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:21.374Z,1629060501.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:21.375Z,1629060501.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:21.765Z,1629060501.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:22.173Z,1629060502.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00720,189,80,80,A5,FF
2021-08-15T20:48:22.174Z,1629060502.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:22.601Z,1629060502.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204822.61*57

2021-08-15T20:48:22.651Z,1629060502.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.939995 m, bearing: 67.210065 deg, deltaT: 4.481911 s, approachRate: 0.120483 m/s, LOS rate: -0.060013 deg/s, posRepo size: 4
2021-08-15T20:48:25.018Z,1629060505.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:25.408Z,1629060505.408 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:25.408Z,1629060505.408 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:25.409Z,1629060505.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:25.409Z,1629060505.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:25.801Z,1629060505.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00720,189,80,80,A5,FF
2021-08-15T20:48:25.801Z,1629060505.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:25.801Z,1629060505.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:25.803Z,1629060505.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:26.218Z,1629060506.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:27.042Z,1629060507.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204827.04*51

2021-08-15T20:48:27.896Z,1629060507.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:29.438Z,1629060509.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,A5,FF
2021-08-15T20:48:29.438Z,1629060509.438 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,A5,FF
2021-08-15T20:48:29.438Z,1629060509.438 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:48:30.676Z,1629060510.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:31.066Z,1629060511.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:31.066Z,1629060511.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:31.067Z,1629060511.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:31.067Z,1629060511.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:31.465Z,1629060511.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,A5,FF
2021-08-15T20:48:31.465Z,1629060511.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:31.465Z,1629060511.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:31.467Z,1629060511.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:31.912Z,1629060511.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:32.277Z,1629060512.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00735,189,80,80,9D,FF
2021-08-15T20:48:32.278Z,1629060512.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:32.714Z,1629060512.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204832.71*57

2021-08-15T20:48:32.755Z,1629060512.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 67.261531 deg, deltaT: 10.093777 s, approachRate: 0.124830 m/s, LOS rate: 0.005099 deg/s, posRepo size: 4
2021-08-15T20:48:35.133Z,1629060515.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:35.493Z,1629060515.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:35.493Z,1629060515.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:35.493Z,1629060515.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:35.494Z,1629060515.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:35.960Z,1629060515.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00735,189,80,80,9D,FF
2021-08-15T20:48:35.960Z,1629060515.960 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:35.961Z,1629060515.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:35.964Z,1629060515.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:36.342Z,1629060516.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:36.717Z,1629060516.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00740,189,80,80,AD,FF
2021-08-15T20:48:36.717Z,1629060516.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:37.134Z,1629060517.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204837.20*56

2021-08-15T20:48:37.182Z,1629060517.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 67.277684 deg, deltaT: 4.426748 s, approachRate: 0.149094 m/s, LOS rate: 0.003649 deg/s, posRepo size: 4
2021-08-15T20:48:39.579Z,1629060519.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:39.957Z,1629060519.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:39.957Z,1629060519.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:39.957Z,1629060519.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:39.958Z,1629060519.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:40.377Z,1629060520.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00740,189,80,80,AD,FF
2021-08-15T20:48:40.377Z,1629060520.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:40.377Z,1629060520.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:40.379Z,1629060520.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:40.760Z,1629060520.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:41.153Z,1629060521.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00746,189,80,80,AD,FF
2021-08-15T20:48:41.154Z,1629060521.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:41.575Z,1629060521.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204841.61*52

2021-08-15T20:48:41.676Z,1629060521.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.220001 m, bearing: 67.363028 deg, deltaT: 4.474860 s, approachRate: 0.080450 m/s, LOS rate: 0.019072 deg/s, posRepo size: 4
2021-08-15T20:48:44.037Z,1629060524.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:44.389Z,1629060524.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:44.389Z,1629060524.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:44.389Z,1629060524.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:44.390Z,1629060524.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:44.798Z,1629060524.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00746,189,80,80,AD,FF
2021-08-15T20:48:44.798Z,1629060524.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:44.798Z,1629060524.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:44.800Z,1629060524.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:45.197Z,1629060525.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:45.601Z,1629060525.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00750,18A,80,80,A2,FF
2021-08-15T20:48:45.602Z,1629060525.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:46.033Z,1629060526.033 [Micromodem](INFO): Nmea in: $SNTTA,0.096817,,,,204846.04*49

2021-08-15T20:48:46.080Z,1629060526.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 67.436281 deg, deltaT: 4.409016 s, approachRate: 0.136084 m/s, LOS rate: 0.016615 deg/s, posRepo size: 4
2021-08-15T20:48:48.468Z,1629060528.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:48.833Z,1629060528.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:48.833Z,1629060528.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:48.833Z,1629060528.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:48.834Z,1629060528.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:49.238Z,1629060529.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00750,18A,80,80,A2,FF
2021-08-15T20:48:49.238Z,1629060529.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:49.238Z,1629060529.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:49.241Z,1629060529.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:49.648Z,1629060529.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:50.041Z,1629060530.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0075F,188,80,80,90,FF
2021-08-15T20:48:50.042Z,1629060530.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:50.045Z,1629060530.045 [Micromodem](INFO): Nmea in: $SNTTA,0.058857,0.260432,,,204850.48*5F

2021-08-15T20:48:50.498Z,1629060530.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 67.278149 deg, deltaT: 4.453610 s, approachRate: 0.202084 m/s, LOS rate: -0.035507 deg/s, posRepo size: 4
2021-08-15T20:48:52.894Z,1629060532.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:53.284Z,1629060533.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:53.284Z,1629060533.284 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:53.285Z,1629060533.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:53.286Z,1629060533.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:53.677Z,1629060533.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0075F,188,80,80,90,FF
2021-08-15T20:48:53.677Z,1629060533.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:53.677Z,1629060533.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:53.679Z,1629060533.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:54.085Z,1629060534.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:54.497Z,1629060534.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00763,189,80,80,A1,FF
2021-08-15T20:48:54.498Z,1629060534.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:54.919Z,1629060534.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 66.992654 deg, deltaT: 4.473737 s, approachRate: 0.053646 m/s, LOS rate: -0.063816 deg/s, posRepo size: 4
2021-08-15T20:48:57.367Z,1629060537.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:48:57.717Z,1629060537.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:48:57.717Z,1629060537.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:48:57.717Z,1629060537.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:48:57.718Z,1629060537.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:48:58.130Z,1629060538.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00763,189,80,80,A1,FF
2021-08-15T20:48:58.130Z,1629060538.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:48:58.130Z,1629060538.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:48:58.132Z,1629060538.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:48:58.529Z,1629060538.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:48:58.929Z,1629060538.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00772,189,80,80,AA,FF
2021-08-15T20:48:58.930Z,1629060538.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:48:59.373Z,1629060539.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204859.37*58

2021-08-15T20:48:59.432Z,1629060539.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.860008 m, bearing: 66.453861 deg, deltaT: 4.366897 s, approachRate: 0.206098 m/s, LOS rate: -0.123381 deg/s, posRepo size: 4
2021-08-15T20:49:01.774Z,1629060541.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:02.161Z,1629060542.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:02.161Z,1629060542.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:02.161Z,1629060542.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:02.162Z,1629060542.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:02.570Z,1629060542.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00772,189,80,80,AA,FF
2021-08-15T20:49:02.570Z,1629060542.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:02.570Z,1629060542.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:02.572Z,1629060542.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:02.969Z,1629060542.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:03.393Z,1629060543.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0077C,189,80,80,B2,FF
2021-08-15T20:49:03.394Z,1629060543.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:03.801Z,1629060543.801 [Micromodem](INFO): Nmea in: $SNTTA,0.076039,,,,204903.81*4E

2021-08-15T20:49:03.842Z,1629060543.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.460007 m, bearing: 65.976260 deg, deltaT: 4.494545 s, approachRate: 0.133495 m/s, LOS rate: -0.106262 deg/s, posRepo size: 4
2021-08-15T20:49:06.253Z,1629060546.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:06.622Z,1629060546.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:06.622Z,1629060546.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:06.625Z,1629060546.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:06.633Z,1629060546.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:07.017Z,1629060547.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0077C,189,80,80,B2,FF
2021-08-15T20:49:07.017Z,1629060547.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:07.017Z,1629060547.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:07.019Z,1629060547.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:07.441Z,1629060547.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:07.821Z,1629060547.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00784,189,80,80,97,FF
2021-08-15T20:49:07.822Z,1629060547.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:08.281Z,1629060548.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.939995 m, bearing: 65.051459 deg, deltaT: 4.486304 s, approachRate: 0.106990 m/s, LOS rate: -0.206139 deg/s, posRepo size: 4
2021-08-15T20:49:10.696Z,1629060550.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:11.057Z,1629060551.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:11.057Z,1629060551.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:11.057Z,1629060551.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:11.058Z,1629060551.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:11.454Z,1629060551.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00784,189,80,80,97,FF
2021-08-15T20:49:11.454Z,1629060551.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:11.454Z,1629060551.454 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:11.456Z,1629060551.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:11.888Z,1629060551.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:12.265Z,1629060552.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0078A,189,80,80,A5,FF
2021-08-15T20:49:12.266Z,1629060552.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:12.717Z,1629060552.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204912.69*5D

2021-08-15T20:49:12.742Z,1629060552.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 64.221639 deg, deltaT: 4.412107 s, approachRate: 0.081596 m/s, LOS rate: -0.188078 deg/s, posRepo size: 4
2021-08-15T20:49:15.117Z,1629060555.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:15.493Z,1629060555.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:15.493Z,1629060555.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:15.493Z,1629060555.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:15.494Z,1629060555.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:15.937Z,1629060555.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0078A,189,80,80,A5,FF
2021-08-15T20:49:15.937Z,1629060555.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:15.937Z,1629060555.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:15.939Z,1629060555.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:16.328Z,1629060556.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:16.717Z,1629060556.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00793,189,80,80,A0,FF
2021-08-15T20:49:16.718Z,1629060556.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:17.126Z,1629060557.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204917.18*5E

2021-08-15T20:49:17.162Z,1629060557.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 63.278882 deg, deltaT: 4.413542 s, approachRate: 0.122351 m/s, LOS rate: -0.213606 deg/s, posRepo size: 4
2021-08-15T20:49:19.574Z,1629060559.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:19.961Z,1629060559.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:19.961Z,1629060559.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:19.961Z,1629060559.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:19.962Z,1629060559.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:20.365Z,1629060560.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00793,189,80,80,A0,FF
2021-08-15T20:49:20.365Z,1629060560.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:20.365Z,1629060560.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:20.367Z,1629060560.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:20.773Z,1629060560.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:21.153Z,1629060561.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0079B,189,80,80,A4,FF
2021-08-15T20:49:21.154Z,1629060561.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:21.581Z,1629060561.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204921.60*54

2021-08-15T20:49:21.645Z,1629060561.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 62.212225 deg, deltaT: 4.462151 s, approachRate: 0.107572 m/s, LOS rate: -0.239045 deg/s, posRepo size: 4
2021-08-15T20:49:24.035Z,1629060564.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:24.389Z,1629060564.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:24.389Z,1629060564.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:24.389Z,1629060564.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:24.390Z,1629060564.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:24.794Z,1629060564.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0079B,189,80,80,A4,FF
2021-08-15T20:49:24.794Z,1629060564.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:24.794Z,1629060564.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:24.797Z,1629060564.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:25.193Z,1629060565.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:25.602Z,1629060565.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007AC,189,80,80,95,FF
2021-08-15T20:49:25.603Z,1629060565.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:26.017Z,1629060566.017 [Micromodem](INFO): Nmea in: $SNTTA,0.071232,0.444082,,,204926.03*5D

2021-08-15T20:49:26.063Z,1629060566.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 61.303980 deg, deltaT: 4.443893 s, approachRate: 0.229528 m/s, LOS rate: -0.204380 deg/s, posRepo size: 4
2021-08-15T20:49:28.459Z,1629060568.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:28.837Z,1629060568.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:28.838Z,1629060568.838 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:28.838Z,1629060568.838 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:28.839Z,1629060568.839 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:28.876Z,1629060568.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007AC,189,80,80,95,FF
2021-08-15T20:49:28.876Z,1629060568.876 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:28.876Z,1629060568.876 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:28.878Z,1629060568.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:29.234Z,1629060569.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:29.638Z,1629060569.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007AF,189,80,80,BE,FF
2021-08-15T20:49:29.639Z,1629060569.639 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:30.071Z,1629060570.071 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204930.11*52

2021-08-15T20:49:30.116Z,1629060570.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 60.726228 deg, deltaT: 4.057855 s, approachRate: 0.044358 m/s, LOS rate: -0.142379 deg/s, posRepo size: 4
2021-08-15T20:49:32.504Z,1629060572.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:32.865Z,1629060572.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:32.865Z,1629060572.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:32.865Z,1629060572.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:32.866Z,1629060572.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:33.278Z,1629060573.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007AF,189,80,80,BE,FF
2021-08-15T20:49:33.278Z,1629060573.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:33.278Z,1629060573.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:33.280Z,1629060573.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:33.676Z,1629060573.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:34.081Z,1629060574.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007BB,189,80,80,BA,FF
2021-08-15T20:49:34.081Z,1629060574.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:34.085Z,1629060574.085 [Micromodem](INFO): Nmea in: $SNTTA,0.093886,0.201754,,,204934.52*58

2021-08-15T20:49:34.550Z,1629060574.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.239998 m, bearing: 60.055791 deg, deltaT: 4.452360 s, approachRate: 0.161711 m/s, LOS rate: -0.150580 deg/s, posRepo size: 4
2021-08-15T20:49:36.954Z,1629060576.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:37.316Z,1629060577.316 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:37.316Z,1629060577.316 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:37.317Z,1629060577.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:37.318Z,1629060577.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:37.713Z,1629060577.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007BB,189,80,80,BA,FF
2021-08-15T20:49:37.713Z,1629060577.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:37.713Z,1629060577.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:37.715Z,1629060577.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:38.121Z,1629060578.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:38.954Z,1629060578.954 [Micromodem](INFO): Nmea in: $SNTTA,,0.021735,,,204938.95*4A

2021-08-15T20:49:39.774Z,1629060579.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:41.381Z,1629060581.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,BA,FF
2021-08-15T20:49:41.381Z,1629060581.381 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,BA,FF
2021-08-15T20:49:41.381Z,1629060581.381 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:49:42.600Z,1629060582.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:42.973Z,1629060582.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:42.973Z,1629060582.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:42.973Z,1629060582.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:42.974Z,1629060582.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:43.400Z,1629060583.400 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,BA,FF
2021-08-15T20:49:43.400Z,1629060583.400 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:43.401Z,1629060583.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:43.402Z,1629060583.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:43.788Z,1629060583.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:44.185Z,1629060584.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007D0,189,80,80,C7,FF
2021-08-15T20:49:44.186Z,1629060584.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:44.209Z,1629060584.209 [Micromodem](INFO): Nmea in: $SNTTA,0.140729,0.141029,,,204944.64*55

2021-08-15T20:49:44.631Z,1629060584.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 58.327903 deg, deltaT: 10.101189 s, approachRate: 0.124738 m/s, LOS rate: -0.171058 deg/s, posRepo size: 4
2021-08-15T20:49:47.030Z,1629060587.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:47.409Z,1629060587.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:47.409Z,1629060587.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:47.409Z,1629060587.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:47.410Z,1629060587.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:47.810Z,1629060587.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007D0,189,80,80,C7,FF
2021-08-15T20:49:47.811Z,1629060587.811 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:47.811Z,1629060587.811 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:47.813Z,1629060587.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:48.220Z,1629060588.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:48.621Z,1629060588.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007D9,189,80,80,A6,FF
2021-08-15T20:49:48.621Z,1629060588.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:49.062Z,1629060589.062 [Micromodem](INFO): Nmea in: $SNTTA,0.061919,,,,204949.05*41

2021-08-15T20:49:49.083Z,1629060589.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.040009 m, bearing: 57.633949 deg, deltaT: 4.409613 s, approachRate: 0.122462 m/s, LOS rate: -0.157373 deg/s, posRepo size: 4
2021-08-15T20:49:51.486Z,1629060591.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:51.856Z,1629060591.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:51.856Z,1629060591.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:51.857Z,1629060591.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:51.858Z,1629060591.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:52.269Z,1629060592.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007D9,189,80,80,A6,FF
2021-08-15T20:49:52.269Z,1629060592.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:52.269Z,1629060592.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:52.271Z,1629060592.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:52.661Z,1629060592.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:53.073Z,1629060593.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007E2,189,80,80,94,FF
2021-08-15T20:49:53.074Z,1629060593.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:53.513Z,1629060593.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,204953.51*53

2021-08-15T20:49:53.539Z,1629060593.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 57.509851 deg, deltaT: 4.433365 s, approachRate: 0.121802 m/s, LOS rate: -0.027992 deg/s, posRepo size: 4
2021-08-15T20:49:55.992Z,1629060595.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:49:56.303Z,1629060596.303 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:49:56.304Z,1629060596.304 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:49:56.305Z,1629060596.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:49:56.306Z,1629060596.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:49:56.725Z,1629060596.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007E2,189,80,80,94,FF
2021-08-15T20:49:56.725Z,1629060596.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:49:56.725Z,1629060596.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:49:56.727Z,1629060596.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:49:57.109Z,1629060597.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:49:57.513Z,1629060597.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007EB,189,80,80,BA,FF
2021-08-15T20:49:57.514Z,1629060597.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:49:57.973Z,1629060597.973 [Micromodem](INFO): Nmea in: $SNTTA,0.069187,,,,204957.96*43

2021-08-15T20:49:58.033Z,1629060598.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 56.842532 deg, deltaT: 4.466661 s, approachRate: 0.120894 m/s, LOS rate: -0.149400 deg/s, posRepo size: 4
2021-08-15T20:50:00.389Z,1629060600.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:00.745Z,1629060600.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:00.745Z,1629060600.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:00.745Z,1629060600.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:00.746Z,1629060600.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:01.145Z,1629060601.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007EB,189,80,80,BA,FF
2021-08-15T20:50:01.145Z,1629060601.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:01.145Z,1629060601.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:01.147Z,1629060601.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:01.568Z,1629060601.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:01.967Z,1629060601.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007F4,189,80,80,9B,FF
2021-08-15T20:50:01.968Z,1629060601.968 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:01.975Z,1629060601.975 [Micromodem](INFO): Nmea in: $SNTTA,0.307168,0.307299,,,205002.39*5C

2021-08-15T20:50:02.427Z,1629060602.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.660004 m, bearing: 56.610220 deg, deltaT: 4.470546 s, approachRate: 0.120793 m/s, LOS rate: -0.051965 deg/s, posRepo size: 4
2021-08-15T20:50:03.839Z,1629060603.839 [CTD_Seabird](ERROR): Failed to parse device response: .38
2021-08-15T20:50:04.798Z,1629060604.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:05.185Z,1629060605.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:05.185Z,1629060605.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:05.185Z,1629060605.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:05.186Z,1629060605.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:05.604Z,1629060605.604 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007F4,189,80,80,9B,FF
2021-08-15T20:50:05.604Z,1629060605.604 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:05.605Z,1629060605.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:05.606Z,1629060605.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:06.005Z,1629060606.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:06.397Z,1629060606.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,007FA,18A,80,80,CB,FF
2021-08-15T20:50:06.398Z,1629060606.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:06.834Z,1629060606.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205006.84*53

2021-08-15T20:50:06.859Z,1629060606.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 56.718847 deg, deltaT: 4.397759 s, approachRate: 0.081860 m/s, LOS rate: 0.024701 deg/s, posRepo size: 4
2021-08-15T20:50:09.265Z,1629060609.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:09.637Z,1629060609.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:09.637Z,1629060609.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:09.637Z,1629060609.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:09.638Z,1629060609.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:10.033Z,1629060610.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,007FA,18A,80,80,CB,FF
2021-08-15T20:50:10.033Z,1629060610.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:10.033Z,1629060610.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:10.035Z,1629060610.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:10.445Z,1629060610.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:10.841Z,1629060610.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00804,189,80,80,BB,FF
2021-08-15T20:50:10.842Z,1629060610.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:11.288Z,1629060611.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205011.27*5C

2021-08-15T20:50:11.355Z,1629060611.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.620003 m, bearing: 56.675356 deg, deltaT: 4.539426 s, approachRate: 0.132175 m/s, LOS rate: -0.009581 deg/s, posRepo size: 4
2021-08-15T20:50:13.729Z,1629060613.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:14.077Z,1629060614.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:14.077Z,1629060614.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:14.077Z,1629060614.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:14.078Z,1629060614.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:14.481Z,1629060614.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00804,189,80,80,BB,FF
2021-08-15T20:50:14.481Z,1629060614.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:14.481Z,1629060614.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:14.483Z,1629060614.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:14.888Z,1629060614.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:15.297Z,1629060615.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0080D,189,80,80,AE,FF
2021-08-15T20:50:15.299Z,1629060615.299 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:15.721Z,1629060615.721 [Micromodem](INFO): Nmea in: $SNTTA,0.076336,,,,205015.72*41

2021-08-15T20:50:15.758Z,1629060615.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 57.236896 deg, deltaT: 4.368546 s, approachRate: 0.123609 m/s, LOS rate: 0.128542 deg/s, posRepo size: 4
2021-08-15T20:50:18.166Z,1629060618.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:18.529Z,1629060618.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:18.529Z,1629060618.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:18.529Z,1629060618.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:18.530Z,1629060618.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:18.925Z,1629060618.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0080D,189,80,80,AE,FF
2021-08-15T20:50:18.925Z,1629060618.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:18.925Z,1629060618.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:18.927Z,1629060618.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:19.368Z,1629060619.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:19.730Z,1629060619.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00817,189,80,80,A0,FF
2021-08-15T20:50:19.730Z,1629060619.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:20.165Z,1629060620.165 [Micromodem](INFO): Nmea in: $SNTTA,0.090944,0.377332,,,205020.16*5D

2021-08-15T20:50:20.226Z,1629060620.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.760010 m, bearing: 58.106776 deg, deltaT: 4.390748 s, approachRate: 0.136654 m/s, LOS rate: 0.198116 deg/s, posRepo size: 4
2021-08-15T20:50:22.596Z,1629060622.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:22.965Z,1629060622.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:22.965Z,1629060622.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:22.965Z,1629060622.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:22.966Z,1629060622.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:23.394Z,1629060623.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00817,189,80,80,A0,FF
2021-08-15T20:50:23.394Z,1629060623.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:23.394Z,1629060623.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:23.397Z,1629060623.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:23.782Z,1629060623.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:24.581Z,1629060624.581 [Micromodem](INFO): Nmea in: $SNTTA,,0.182365,,,205024.63*4F

2021-08-15T20:50:25.425Z,1629060625.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:26.997Z,1629060626.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,A0,FF
2021-08-15T20:50:26.997Z,1629060626.997 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,A0,FF
2021-08-15T20:50:26.998Z,1629060626.998 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:50:28.283Z,1629060628.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:28.621Z,1629060628.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:28.621Z,1629060628.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:28.621Z,1629060628.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:28.622Z,1629060628.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:29.026Z,1629060629.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,A0,FF
2021-08-15T20:50:29.026Z,1629060629.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:29.026Z,1629060629.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:29.028Z,1629060629.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:29.428Z,1629060629.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:29.837Z,1629060629.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0082C,189,80,80,BC,FF
2021-08-15T20:50:29.837Z,1629060629.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:30.265Z,1629060630.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205030.26*5E

2021-08-15T20:50:30.362Z,1629060630.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.019997 m, bearing: 60.828852 deg, deltaT: 10.178970 s, approachRate: 0.123783 m/s, LOS rate: 0.267422 deg/s, posRepo size: 4
2021-08-15T20:50:32.679Z,1629060632.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:33.061Z,1629060633.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:33.061Z,1629060633.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:33.061Z,1629060633.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:33.062Z,1629060633.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:33.474Z,1629060633.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0082C,189,80,80,BC,FF
2021-08-15T20:50:33.474Z,1629060633.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:33.474Z,1629060633.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:33.476Z,1629060633.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:33.911Z,1629060633.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:34.273Z,1629060634.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00833,188,80,80,B1,FF
2021-08-15T20:50:34.274Z,1629060634.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:34.705Z,1629060634.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205034.71*58

2021-08-15T20:50:34.761Z,1629060634.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 61.860818 deg, deltaT: 4.392959 s, approachRate: 0.095607 m/s, LOS rate: 0.234914 deg/s, posRepo size: 4
2021-08-15T20:50:37.133Z,1629060637.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:37.505Z,1629060637.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:37.505Z,1629060637.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:37.505Z,1629060637.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:37.506Z,1629060637.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:37.949Z,1629060637.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00833,188,80,80,B1,FF
2021-08-15T20:50:37.949Z,1629060637.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:37.949Z,1629060637.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:37.951Z,1629060637.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:38.340Z,1629060638.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:38.725Z,1629060638.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00840,18A,80,80,B9,FF
2021-08-15T20:50:38.726Z,1629060638.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:39.142Z,1629060639.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205039.19*5B

2021-08-15T20:50:39.180Z,1629060639.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.220009 m, bearing: 62.757745 deg, deltaT: 4.488918 s, approachRate: 0.173764 m/s, LOS rate: 0.199809 deg/s, posRepo size: 4
2021-08-15T20:50:41.581Z,1629060641.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:41.961Z,1629060641.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:41.961Z,1629060641.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:41.961Z,1629060641.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:41.962Z,1629060641.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:42.373Z,1629060642.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00840,18A,80,80,B9,FF
2021-08-15T20:50:42.373Z,1629060642.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:42.374Z,1629060642.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:42.375Z,1629060642.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:42.761Z,1629060642.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:43.161Z,1629060643.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0084B,189,80,80,BC,FF
2021-08-15T20:50:43.162Z,1629060643.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:43.581Z,1629060643.581 [Micromodem](INFO): Nmea in: $SNTTA,0.066049,,,,205043.61*4A

2021-08-15T20:50:43.627Z,1629060643.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 63.279169 deg, deltaT: 4.369741 s, approachRate: 0.151036 m/s, LOS rate: 0.119326 deg/s, posRepo size: 4
2021-08-15T20:50:46.039Z,1629060646.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:46.393Z,1629060646.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:46.393Z,1629060646.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:46.393Z,1629060646.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:46.394Z,1629060646.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:46.797Z,1629060646.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0084B,189,80,80,BC,FF
2021-08-15T20:50:46.797Z,1629060646.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:46.797Z,1629060646.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:46.799Z,1629060646.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:47.213Z,1629060647.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:47.605Z,1629060647.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00851,189,80,80,A7,FF
2021-08-15T20:50:47.606Z,1629060647.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:48.052Z,1629060648.052 [Micromodem](INFO): Nmea in: $SNTTA,0.481212,0.481712,,,205048.04*54

2021-08-15T20:50:48.112Z,1629060648.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.240005 m, bearing: 63.470674 deg, deltaT: 4.493596 s, approachRate: 0.080116 m/s, LOS rate: 0.042617 deg/s, posRepo size: 4
2021-08-15T20:50:50.476Z,1629060650.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:50.837Z,1629060650.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:50.837Z,1629060650.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:50.837Z,1629060650.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:50.838Z,1629060650.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:51.246Z,1629060651.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00851,189,80,80,A7,FF
2021-08-15T20:50:51.246Z,1629060651.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:51.246Z,1629060651.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:51.249Z,1629060651.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:51.648Z,1629060651.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:52.055Z,1629060652.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0085A,189,80,80,B1,FF
2021-08-15T20:50:52.055Z,1629060652.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:52.481Z,1629060652.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205052.49*53

2021-08-15T20:50:52.522Z,1629060652.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.779999 m, bearing: 63.615364 deg, deltaT: 4.455705 s, approachRate: 0.121191 m/s, LOS rate: 0.032473 deg/s, posRepo size: 4
2021-08-15T20:50:54.914Z,1629060654.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:55.293Z,1629060655.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:55.293Z,1629060655.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:55.293Z,1629060655.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:55.294Z,1629060655.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:50:55.697Z,1629060655.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0085A,189,80,80,B1,FF
2021-08-15T20:50:55.697Z,1629060655.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:50:55.697Z,1629060655.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:50:55.699Z,1629060655.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:50:56.109Z,1629060656.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:50:56.512Z,1629060656.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00866,189,80,80,C6,FF
2021-08-15T20:50:56.513Z,1629060656.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:50:56.934Z,1629060656.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205056.94*57

2021-08-15T20:50:56.955Z,1629060656.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.500008 m, bearing: 63.652616 deg, deltaT: 4.411893 s, approachRate: 0.163197 m/s, LOS rate: 0.008444 deg/s, posRepo size: 4
2021-08-15T20:50:59.385Z,1629060659.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:50:59.725Z,1629060659.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:50:59.725Z,1629060659.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:50:59.725Z,1629060659.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:50:59.726Z,1629060659.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:00.129Z,1629060660.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00866,189,80,80,C6,FF
2021-08-15T20:51:00.129Z,1629060660.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:00.129Z,1629060660.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:00.131Z,1629060660.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:00.533Z,1629060660.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:00.941Z,1629060660.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0086E,189,80,80,A6,FF
2021-08-15T20:51:00.942Z,1629060660.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:01.381Z,1629060661.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205101.37*5D

2021-08-15T20:51:01.426Z,1629060661.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.979996 m, bearing: 63.266792 deg, deltaT: 4.419231 s, approachRate: 0.108613 m/s, LOS rate: -0.087306 deg/s, posRepo size: 4
2021-08-15T20:51:03.805Z,1629060663.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:04.169Z,1629060664.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:04.169Z,1629060664.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:04.169Z,1629060664.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:04.170Z,1629060664.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:04.573Z,1629060664.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0086E,189,80,80,A6,FF
2021-08-15T20:51:04.573Z,1629060664.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:04.574Z,1629060664.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:04.575Z,1629060664.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:04.989Z,1629060664.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:05.385Z,1629060665.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00875,189,80,80,AE,FF
2021-08-15T20:51:05.386Z,1629060665.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:05.825Z,1629060665.825 [Micromodem](INFO): Nmea in: $SNTTA,0.072548,,,,205105.81*46

2021-08-15T20:51:05.847Z,1629060665.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 62.798166 deg, deltaT: 4.510023 s, approachRate: 0.093127 m/s, LOS rate: -0.103908 deg/s, posRepo size: 4
2021-08-15T20:51:08.271Z,1629060668.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:08.613Z,1629060668.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:08.613Z,1629060668.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:08.613Z,1629060668.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:08.614Z,1629060668.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:09.025Z,1629060669.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00875,189,80,80,AE,FF
2021-08-15T20:51:09.025Z,1629060669.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:09.026Z,1629060669.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:09.027Z,1629060669.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:09.433Z,1629060669.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:09.829Z,1629060669.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0087F,189,80,80,B5,FF
2021-08-15T20:51:09.830Z,1629060669.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:10.246Z,1629060670.246 [Micromodem](INFO): Nmea in: $SNTTA,0.367403,0.368397,,,205110.26*58

2021-08-15T20:51:10.337Z,1629060670.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.000000 m, bearing: 62.130502 deg, deltaT: 4.459085 s, approachRate: 0.134556 m/s, LOS rate: -0.149731 deg/s, posRepo size: 4
2021-08-15T20:51:12.690Z,1629060672.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:13.069Z,1629060673.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:13.069Z,1629060673.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:13.069Z,1629060673.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:13.070Z,1629060673.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:13.461Z,1629060673.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0087F,189,80,80,B5,FF
2021-08-15T20:51:13.461Z,1629060673.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:13.461Z,1629060673.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:13.463Z,1629060673.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:13.915Z,1629060673.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:14.284Z,1629060674.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00888,189,80,80,A9,FF
2021-08-15T20:51:14.284Z,1629060674.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:14.717Z,1629060674.717 [Micromodem](INFO): Nmea in: $SNTTA,0.147912,,,,205114.70*4C

2021-08-15T20:51:14.743Z,1629060674.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.540009 m, bearing: 61.627670 deg, deltaT: 4.426424 s, approachRate: 0.121997 m/s, LOS rate: -0.113598 deg/s, posRepo size: 4
2021-08-15T20:51:17.134Z,1629060677.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:17.501Z,1629060677.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:17.501Z,1629060677.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:17.501Z,1629060677.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:17.502Z,1629060677.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:17.953Z,1629060677.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00888,189,80,80,A9,FF
2021-08-15T20:51:17.953Z,1629060677.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:17.953Z,1629060677.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:17.955Z,1629060677.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:18.341Z,1629060678.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:18.726Z,1629060678.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0088F,189,80,80,AB,FF
2021-08-15T20:51:18.727Z,1629060678.727 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:19.139Z,1629060679.139 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205119.19*58

2021-08-15T20:51:19.192Z,1629060679.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.960007 m, bearing: 60.899053 deg, deltaT: 4.426768 s, approachRate: 0.094877 m/s, LOS rate: -0.164593 deg/s, posRepo size: 4
2021-08-15T20:51:21.579Z,1629060681.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:21.958Z,1629060681.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:21.958Z,1629060681.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:21.959Z,1629060681.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:21.959Z,1629060681.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:22.377Z,1629060682.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0088F,189,80,80,AB,FF
2021-08-15T20:51:22.377Z,1629060682.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:22.377Z,1629060682.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:22.379Z,1629060682.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:22.772Z,1629060682.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:23.161Z,1629060683.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0089A,189,80,80,B4,FF
2021-08-15T20:51:23.162Z,1629060683.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:23.582Z,1629060683.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205123.62*5D

2021-08-15T20:51:23.635Z,1629060683.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 60.160081 deg, deltaT: 4.435421 s, approachRate: 0.148799 m/s, LOS rate: -0.166607 deg/s, posRepo size: 4
2021-08-15T20:51:26.078Z,1629060686.078 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:26.389Z,1629060686.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:26.389Z,1629060686.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:26.389Z,1629060686.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:26.390Z,1629060686.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:26.813Z,1629060686.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0089A,189,80,80,B4,FF
2021-08-15T20:51:26.814Z,1629060686.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:26.814Z,1629060686.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:26.838Z,1629060686.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:27.220Z,1629060687.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:28.011Z,1629060688.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205128.08*5A

2021-08-15T20:51:28.821Z,1629060688.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,038D0,189,80,80,A5,FF
2021-08-15T20:51:28.822Z,1629060688.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:29.301Z,1629060689.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 835.140015 m, bearing: 59.461701 deg, deltaT: 5.642493 s, approachRate: 131.239868 m/s, LOS rate: -0.123772 deg/s, posRepo size: 4
2021-08-15T20:51:31.672Z,1629060691.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:32.050Z,1629060692.050 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:32.050Z,1629060692.050 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:32.050Z,1629060692.050 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:32.051Z,1629060692.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:32.453Z,1629060692.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,038D0,189,80,80,A5,FF
2021-08-15T20:51:32.453Z,1629060692.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:32.453Z,1629060692.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:32.455Z,1629060692.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:32.861Z,1629060692.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:33.277Z,1629060693.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008AF,189,80,80,BA,FF
2021-08-15T20:51:33.278Z,1629060693.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:33.689Z,1629060693.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205133.69*57

2021-08-15T20:51:33.729Z,1629060693.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.879997 m, bearing: 58.462267 deg, deltaT: 4.515951 s, approachRate: -163.699738 m/s, LOS rate: -0.221312 deg/s, posRepo size: 4
2021-08-15T20:51:36.129Z,1629060696.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:36.493Z,1629060696.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:36.493Z,1629060696.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:36.493Z,1629060696.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:36.494Z,1629060696.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:36.898Z,1629060696.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008AF,189,80,80,BA,FF
2021-08-15T20:51:36.898Z,1629060696.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:36.898Z,1629060696.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:36.900Z,1629060696.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:37.339Z,1629060697.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:37.701Z,1629060697.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008B9,189,80,80,B1,FF
2021-08-15T20:51:37.702Z,1629060697.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:38.117Z,1629060698.117 [Micromodem](INFO): Nmea in: $SNTTA,0.075091,0.390198,,,205138.14*56

2021-08-15T20:51:38.172Z,1629060698.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.479996 m, bearing: 58.144383 deg, deltaT: 4.343620 s, approachRate: 0.138133 m/s, LOS rate: -0.073184 deg/s, posRepo size: 4
2021-08-15T20:51:40.572Z,1629060700.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:40.997Z,1629060700.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:40.997Z,1629060700.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:40.997Z,1629060700.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:40.998Z,1629060700.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:41.354Z,1629060701.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008B9,189,80,80,B1,FF
2021-08-15T20:51:41.354Z,1629060701.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:41.354Z,1629060701.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:41.356Z,1629060701.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:41.778Z,1629060701.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:42.149Z,1629060702.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008C0,189,80,80,C4,FF
2021-08-15T20:51:42.150Z,1629060702.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:42.153Z,1629060702.153 [Micromodem](INFO): Nmea in: $SNTTA,0.163418,0.163206,,,205142.59*5B

2021-08-15T20:51:42.584Z,1629060702.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.899994 m, bearing: 57.691145 deg, deltaT: 4.520154 s, approachRate: 0.092917 m/s, LOS rate: -0.100270 deg/s, posRepo size: 4
2021-08-15T20:51:44.990Z,1629060704.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:45.389Z,1629060705.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:45.389Z,1629060705.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:45.389Z,1629060705.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:45.390Z,1629060705.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:45.781Z,1629060705.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008C0,189,80,80,C4,FF
2021-08-15T20:51:45.781Z,1629060705.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:45.781Z,1629060705.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:45.783Z,1629060705.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:46.199Z,1629060706.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:46.589Z,1629060706.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008C9,18A,80,80,BE,FF
2021-08-15T20:51:46.590Z,1629060706.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:47.030Z,1629060707.030 [Micromodem](INFO): Nmea in: $SNTTA,0.103876,,,,205147.02*4C

2021-08-15T20:51:47.052Z,1629060707.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 57.692559 deg, deltaT: 4.436452 s, approachRate: 0.121721 m/s, LOS rate: 0.000319 deg/s, posRepo size: 4
2021-08-15T20:51:49.457Z,1629060709.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:49.821Z,1629060709.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:49.821Z,1629060709.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:49.821Z,1629060709.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:49.822Z,1629060709.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:50.226Z,1629060710.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008C9,18A,80,80,BE,FF
2021-08-15T20:51:50.226Z,1629060710.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:50.226Z,1629060710.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:50.273Z,1629060710.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:50.340Z,1629060710.340 [CTD_Seabird](ERROR): Failed to parse device response: 6.03.22
2021-08-15T20:51:50.637Z,1629060710.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:51.042Z,1629060711.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008D2,189,80,80,B9,FF
2021-08-15T20:51:51.042Z,1629060711.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:51.508Z,1629060711.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 57.373459 deg, deltaT: 4.383636 s, approachRate: 0.123186 m/s, LOS rate: -0.072793 deg/s, posRepo size: 4
2021-08-15T20:51:51.876Z,1629060711.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205151.53*5A

2021-08-15T20:51:53.934Z,1629060713.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:54.273Z,1629060714.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:54.273Z,1629060714.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:54.273Z,1629060714.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:54.274Z,1629060714.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:54.673Z,1629060714.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008D2,189,80,80,B9,FF
2021-08-15T20:51:54.673Z,1629060714.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:54.673Z,1629060714.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:54.675Z,1629060714.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:55.085Z,1629060715.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:55.481Z,1629060715.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008DB,189,80,80,BD,FF
2021-08-15T20:51:55.482Z,1629060715.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:51:55.941Z,1629060715.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205155.91*50

2021-08-15T20:51:55.990Z,1629060715.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 57.736914 deg, deltaT: 4.476738 s, approachRate: 0.120624 m/s, LOS rate: 0.081187 deg/s, posRepo size: 4
2021-08-15T20:51:58.392Z,1629060718.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:51:58.705Z,1629060718.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:51:58.706Z,1629060718.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:51:58.706Z,1629060718.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:51:58.707Z,1629060718.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:51:59.114Z,1629060719.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008DB,189,80,80,BD,FF
2021-08-15T20:51:59.114Z,1629060719.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:51:59.114Z,1629060719.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:51:59.116Z,1629060719.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:51:59.521Z,1629060719.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:51:59.949Z,1629060719.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008E3,189,80,80,B9,FF
2021-08-15T20:51:59.950Z,1629060719.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:00.374Z,1629060720.374 [Micromodem](INFO): Nmea in: $SNTTA,,0.323188,,,205200.35*40

2021-08-15T20:52:00.417Z,1629060720.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.000000 m, bearing: 58.142436 deg, deltaT: 4.510842 s, approachRate: 0.106409 m/s, LOS rate: 0.089899 deg/s, posRepo size: 4
2021-08-15T20:52:02.771Z,1629060722.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:03.153Z,1629060723.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:03.153Z,1629060723.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:03.153Z,1629060723.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:03.154Z,1629060723.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:03.571Z,1629060723.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008E3,189,80,80,B9,FF
2021-08-15T20:52:03.571Z,1629060723.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:03.571Z,1629060723.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:03.573Z,1629060723.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:03.972Z,1629060723.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:04.389Z,1629060724.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008EC,189,80,80,9B,FF
2021-08-15T20:52:04.390Z,1629060724.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:04.793Z,1629060724.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205204.81*56

2021-08-15T20:52:04.839Z,1629060724.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 58.612770 deg, deltaT: 4.396659 s, approachRate: 0.122822 m/s, LOS rate: 0.106975 deg/s, posRepo size: 4
2021-08-15T20:52:07.231Z,1629060727.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:07.609Z,1629060727.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:07.609Z,1629060727.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:07.609Z,1629060727.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:07.610Z,1629060727.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:08.010Z,1629060728.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008EC,189,80,80,9B,FF
2021-08-15T20:52:08.010Z,1629060728.010 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:08.010Z,1629060728.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:08.012Z,1629060728.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:08.436Z,1629060728.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:08.817Z,1629060728.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008F5,189,80,80,B6,FF
2021-08-15T20:52:08.818Z,1629060728.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:09.250Z,1629060729.250 [Micromodem](INFO): Nmea in: $SNTTA,0.082142,,,,205209.25*46

2021-08-15T20:52:09.286Z,1629060729.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.080002 m, bearing: 59.405543 deg, deltaT: 4.391460 s, approachRate: 0.122964 m/s, LOS rate: 0.180526 deg/s, posRepo size: 4
2021-08-15T20:52:11.682Z,1629060731.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:12.041Z,1629060732.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:12.041Z,1629060732.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:12.041Z,1629060732.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:12.042Z,1629060732.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:12.469Z,1629060732.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008F5,189,80,80,B6,FF
2021-08-15T20:52:12.469Z,1629060732.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:12.469Z,1629060732.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:12.471Z,1629060732.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:12.862Z,1629060732.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:13.265Z,1629060733.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00900,189,80,80,AE,FF
2021-08-15T20:52:13.266Z,1629060733.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:13.681Z,1629060733.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205213.71*5F

2021-08-15T20:52:13.711Z,1629060733.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.740005 m, bearing: 60.112618 deg, deltaT: 4.510187 s, approachRate: 0.146336 m/s, LOS rate: 0.156773 deg/s, posRepo size: 4
2021-08-15T20:52:16.130Z,1629060736.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:16.513Z,1629060736.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:16.513Z,1629060736.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:16.514Z,1629060736.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:16.515Z,1629060736.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:16.889Z,1629060736.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00900,189,80,80,AE,FF
2021-08-15T20:52:16.889Z,1629060736.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:16.889Z,1629060736.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:16.891Z,1629060736.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:17.321Z,1629060737.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:17.697Z,1629060737.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00909,189,80,80,95,FF
2021-08-15T20:52:17.698Z,1629060737.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:18.143Z,1629060738.143 [Micromodem](INFO): Nmea in: $SNTTA,0.072992,,,,205218.13*49

2021-08-15T20:52:18.178Z,1629060738.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.279999 m, bearing: 60.936735 deg, deltaT: 4.402017 s, approachRate: 0.122670 m/s, LOS rate: 0.187213 deg/s, posRepo size: 4
2021-08-15T20:52:20.598Z,1629060740.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:20.929Z,1629060740.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:20.929Z,1629060740.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:20.929Z,1629060740.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:20.930Z,1629060740.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:21.355Z,1629060741.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00909,189,80,80,95,FF
2021-08-15T20:52:21.355Z,1629060741.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:21.355Z,1629060741.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:21.382Z,1629060741.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:21.741Z,1629060741.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:22.145Z,1629060742.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00911,189,80,80,94,FF
2021-08-15T20:52:22.146Z,1629060742.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:22.567Z,1629060742.567 [Micromodem](INFO): Nmea in: $SNTTA,0.071386,,,,205222.62*4A

2021-08-15T20:52:22.614Z,1629060742.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 61.682947 deg, deltaT: 4.514709 s, approachRate: 0.106320 m/s, LOS rate: 0.165285 deg/s, posRepo size: 4
2021-08-15T20:52:24.986Z,1629060744.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:25.381Z,1629060745.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:25.381Z,1629060745.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:25.381Z,1629060745.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:25.382Z,1629060745.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:25.777Z,1629060745.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00911,189,80,80,94,FF
2021-08-15T20:52:25.777Z,1629060745.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:25.777Z,1629060745.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:25.779Z,1629060745.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:26.188Z,1629060746.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:27.006Z,1629060747.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205227.02*5C

2021-08-15T20:52:27.818Z,1629060747.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:29.417Z,1629060749.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,94,FF
2021-08-15T20:52:29.417Z,1629060749.417 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,94,FF
2021-08-15T20:52:29.417Z,1629060749.417 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:52:30.318Z,1629060750.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:30.625Z,1629060750.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:30.625Z,1629060750.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:30.625Z,1629060750.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:30.626Z,1629060750.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:31.033Z,1629060751.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,94,FF
2021-08-15T20:52:31.033Z,1629060751.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:31.034Z,1629060751.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:31.035Z,1629060751.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:31.436Z,1629060751.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:31.886Z,1629060751.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00929,189,80,80,9A,FF
2021-08-15T20:52:31.887Z,1629060751.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:31.901Z,1629060751.901 [Micromodem](INFO): Nmea in: $SNTTA,0.323154,0.323154,,,205232.27*5F

2021-08-15T20:52:32.284Z,1629060752.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 63.166177 deg, deltaT: 9.728322 s, approachRate: 0.148022 m/s, LOS rate: 0.152465 deg/s, posRepo size: 4
2021-08-15T20:52:34.685Z,1629060754.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:35.069Z,1629060755.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:35.069Z,1629060755.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:35.069Z,1629060755.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:35.070Z,1629060755.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:35.469Z,1629060755.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00929,189,80,80,9A,FF
2021-08-15T20:52:35.469Z,1629060755.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:35.469Z,1629060755.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:35.471Z,1629060755.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:35.921Z,1629060755.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:36.293Z,1629060756.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00932,189,80,80,B1,FF
2021-08-15T20:52:36.295Z,1629060756.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:36.309Z,1629060756.309 [Micromodem](INFO): Nmea in: $SNTTA,0.143559,0.143684,,,205236.71*5B

2021-08-15T20:52:36.751Z,1629060756.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 63.348488 deg, deltaT: 4.406303 s, approachRate: 0.122550 m/s, LOS rate: 0.041375 deg/s, posRepo size: 4
2021-08-15T20:52:39.135Z,1629060759.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:39.517Z,1629060759.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:39.517Z,1629060759.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:39.517Z,1629060759.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:39.518Z,1629060759.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:39.957Z,1629060759.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00932,189,80,80,B1,FF
2021-08-15T20:52:39.957Z,1629060759.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:39.957Z,1629060759.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:39.959Z,1629060759.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:40.338Z,1629060760.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:40.737Z,1629060760.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0093E,189,80,80,9A,FF
2021-08-15T20:52:40.738Z,1629060760.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:41.151Z,1629060761.151 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205241.20*5C

2021-08-15T20:52:41.192Z,1629060761.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 63.706513 deg, deltaT: 4.358218 s, approachRate: 0.165207 m/s, LOS rate: 0.082149 deg/s, posRepo size: 4
2021-08-15T20:52:43.608Z,1629060763.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:43.969Z,1629060763.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:43.969Z,1629060763.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:43.969Z,1629060763.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:43.970Z,1629060763.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:44.377Z,1629060764.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0093E,189,80,80,9A,FF
2021-08-15T20:52:44.377Z,1629060764.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:44.377Z,1629060764.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:44.379Z,1629060764.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:44.773Z,1629060764.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:45.177Z,1629060765.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00945,189,80,80,A8,FF
2021-08-15T20:52:45.178Z,1629060765.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:45.609Z,1629060765.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205245.62*5E

2021-08-15T20:52:45.646Z,1629060765.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.880005 m, bearing: 63.790688 deg, deltaT: 4.440084 s, approachRate: 0.094592 m/s, LOS rate: 0.018958 deg/s, posRepo size: 4
2021-08-15T20:52:48.039Z,1629060768.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:48.413Z,1629060768.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:48.413Z,1629060768.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:48.413Z,1629060768.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:48.414Z,1629060768.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:48.805Z,1629060768.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00945,189,80,80,A8,FF
2021-08-15T20:52:48.805Z,1629060768.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:48.805Z,1629060768.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:48.807Z,1629060768.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:49.213Z,1629060769.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:49.621Z,1629060769.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0094F,189,80,80,AB,FF
2021-08-15T20:52:49.621Z,1629060769.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:50.057Z,1629060770.057 [Micromodem](INFO): Nmea in: $SNTTA,0.476847,,,,205250.04*4A

2021-08-15T20:52:50.112Z,1629060770.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.480003 m, bearing: 63.652555 deg, deltaT: 4.454023 s, approachRate: 0.134709 m/s, LOS rate: -0.031013 deg/s, posRepo size: 4
2021-08-15T20:52:52.469Z,1629060772.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:52.841Z,1629060772.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:52.841Z,1629060772.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:52.842Z,1629060772.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:52.843Z,1629060772.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:53.250Z,1629060773.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0094F,189,80,80,AB,FF
2021-08-15T20:52:53.251Z,1629060773.251 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:53.251Z,1629060773.251 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:53.254Z,1629060773.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:53.653Z,1629060773.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:54.061Z,1629060774.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00959,189,80,80,A7,FF
2021-08-15T20:52:54.061Z,1629060774.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:54.497Z,1629060774.497 [Micromodem](INFO): Nmea in: $SNTTA,0.112422,,,,205254.50*47

2021-08-15T20:52:54.523Z,1629060774.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 63.394694 deg, deltaT: 4.449071 s, approachRate: 0.134859 m/s, LOS rate: -0.057958 deg/s, posRepo size: 4
2021-08-15T20:52:56.910Z,1629060776.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:52:57.316Z,1629060777.316 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:52:57.317Z,1629060777.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:52:57.317Z,1629060777.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:52:57.319Z,1629060777.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:52:57.693Z,1629060777.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00959,189,80,80,A7,FF
2021-08-15T20:52:57.693Z,1629060777.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:52:57.693Z,1629060777.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:52:57.695Z,1629060777.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:52:58.112Z,1629060778.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:52:58.509Z,1629060778.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00960,188,80,80,AB,FF
2021-08-15T20:52:58.510Z,1629060778.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:52:58.945Z,1629060778.945 [Micromodem](INFO): Nmea in: $SNTTA,0.032030,,,,205258.94*47

2021-08-15T20:52:58.963Z,1629060778.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 63.182419 deg, deltaT: 4.439095 s, approachRate: 0.094613 m/s, LOS rate: -0.047820 deg/s, posRepo size: 4
2021-08-15T20:53:01.387Z,1629060781.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:01.737Z,1629060781.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:01.737Z,1629060781.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:01.737Z,1629060781.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:01.738Z,1629060781.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:02.137Z,1629060782.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00960,188,80,80,AB,FF
2021-08-15T20:53:02.137Z,1629060782.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:02.137Z,1629060782.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:02.139Z,1629060782.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:02.552Z,1629060782.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:02.949Z,1629060782.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0096C,189,80,80,B3,FF
2021-08-15T20:53:02.950Z,1629060782.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:03.401Z,1629060783.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205303.38*52

2021-08-15T20:53:03.427Z,1629060783.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 62.710323 deg, deltaT: 4.491664 s, approachRate: 0.160297 m/s, LOS rate: -0.105105 deg/s, posRepo size: 4
2021-08-15T20:53:05.798Z,1629060785.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:06.185Z,1629060786.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:06.185Z,1629060786.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:06.185Z,1629060786.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:06.186Z,1629060786.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:06.574Z,1629060786.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0096C,189,80,80,B3,FF
2021-08-15T20:53:06.575Z,1629060786.575 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:06.575Z,1629060786.575 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:06.577Z,1629060786.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:07.001Z,1629060787.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:07.393Z,1629060787.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00975,189,80,80,C6,FF
2021-08-15T20:53:07.394Z,1629060787.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:07.834Z,1629060787.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205307.82*57

2021-08-15T20:53:07.918Z,1629060787.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.760002 m, bearing: 62.200600 deg, deltaT: 4.416984 s, approachRate: 0.122256 m/s, LOS rate: -0.115401 deg/s, posRepo size: 4
2021-08-15T20:53:10.279Z,1629060790.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:10.633Z,1629060790.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:10.633Z,1629060790.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:10.633Z,1629060790.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:10.634Z,1629060790.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:11.041Z,1629060791.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00975,189,80,80,C6,FF
2021-08-15T20:53:11.041Z,1629060791.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:11.041Z,1629060791.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:11.043Z,1629060791.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:11.432Z,1629060791.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:11.859Z,1629060791.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0097F,189,80,80,C0,FF
2021-08-15T20:53:11.868Z,1629060791.868 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:12.265Z,1629060792.265 [Micromodem](INFO): Nmea in: $SNTTA,,0.357424,,,205312.28*4E

2021-08-15T20:53:12.367Z,1629060792.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.360001 m, bearing: 61.843777 deg, deltaT: 4.496354 s, approachRate: 0.133441 m/s, LOS rate: -0.079358 deg/s, posRepo size: 4
2021-08-15T20:53:14.705Z,1629060794.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:15.066Z,1629060795.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:15.066Z,1629060795.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:15.066Z,1629060795.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:15.067Z,1629060795.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:15.466Z,1629060795.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0097F,189,80,80,C0,FF
2021-08-15T20:53:15.466Z,1629060795.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:15.466Z,1629060795.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:15.468Z,1629060795.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:15.915Z,1629060795.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:16.289Z,1629060796.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00989,189,80,80,C0,FF
2021-08-15T20:53:16.290Z,1629060796.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:16.737Z,1629060796.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205316.71*5B

2021-08-15T20:53:16.760Z,1629060796.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.959999 m, bearing: 61.553870 deg, deltaT: 4.428309 s, approachRate: 0.135492 m/s, LOS rate: -0.065467 deg/s, posRepo size: 4
2021-08-15T20:53:17.521Z,1629060797.521 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:53:19.150Z,1629060799.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:19.517Z,1629060799.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:19.517Z,1629060799.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:19.517Z,1629060799.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:19.518Z,1629060799.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:19.960Z,1629060799.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00989,189,80,80,C0,FF
2021-08-15T20:53:19.961Z,1629060799.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:19.961Z,1629060799.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:19.963Z,1629060799.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:20.349Z,1629060800.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:21.129Z,1629060801.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205321.20*5B

2021-08-15T20:53:21.978Z,1629060801.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:23.557Z,1629060803.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,C0,FF
2021-08-15T20:53:23.557Z,1629060803.557 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,C0,FF
2021-08-15T20:53:23.557Z,1629060803.557 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:53:24.795Z,1629060804.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:25.165Z,1629060805.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:25.165Z,1629060805.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:25.165Z,1629060805.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:25.166Z,1629060805.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:25.573Z,1629060805.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,C0,FF
2021-08-15T20:53:25.573Z,1629060805.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:25.573Z,1629060805.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:25.575Z,1629060805.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:25.976Z,1629060805.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:26.385Z,1629060806.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0099E,189,80,80,C1,FF
2021-08-15T20:53:26.386Z,1629060806.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:26.817Z,1629060806.817 [Micromodem](INFO): Nmea in: $SNTTA,0.097291,,,,205326.82*4E

2021-08-15T20:53:26.869Z,1629060806.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.220001 m, bearing: 60.502007 deg, deltaT: 10.070719 s, approachRate: 0.125115 m/s, LOS rate: -0.104448 deg/s, posRepo size: 4
2021-08-15T20:53:26.870Z,1629060806.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 110.22 m. Resuming terminal guidance.
2021-08-15T20:53:26.870Z,1629060806.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T20:53:27.214Z,1629060807.214 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T20:53:29.246Z,1629060809.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:29.613Z,1629060809.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:29.613Z,1629060809.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:29.613Z,1629060809.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:29.614Z,1629060809.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:30.021Z,1629060810.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0099E,189,80,80,C1,FF
2021-08-15T20:53:30.021Z,1629060810.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:30.022Z,1629060810.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:30.023Z,1629060810.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:30.420Z,1629060810.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:30.825Z,1629060810.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,009A6,189,80,80,A4,FF
2021-08-15T20:53:30.825Z,1629060810.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:31.273Z,1629060811.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205331.26*5C

2021-08-15T20:53:31.293Z,1629060811.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.700005 m, bearing: 59.710702 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T20:53:31.294Z,1629060811.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 59.710702deg and heading rate command to 0 deg/s.
2021-08-15T20:53:33.693Z,1629060813.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:34.053Z,1629060814.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:34.053Z,1629060814.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:34.053Z,1629060814.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:34.054Z,1629060814.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:34.457Z,1629060814.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,009A6,189,80,80,A4,FF
2021-08-15T20:53:34.457Z,1629060814.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:34.457Z,1629060814.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:34.459Z,1629060814.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:34.876Z,1629060814.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:35.283Z,1629060815.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0082A,189,80,80,A3,FF
2021-08-15T20:53:35.284Z,1629060815.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:35.714Z,1629060815.714 [Micromodem](INFO): Nmea in: $SNTTA,0.062505,,,,205335.70*41

2021-08-15T20:53:35.739Z,1629060815.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.900002 m, bearing: 56.763872 deg, deltaT: 4.519552 s, approachRate: -5.044748 m/s, LOS rate: -0.652018 deg/s, posRepo size: 2
2021-08-15T20:53:38.148Z,1629060818.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:38.501Z,1629060818.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:38.501Z,1629060818.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:38.501Z,1629060818.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:38.502Z,1629060818.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:38.901Z,1629060818.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0082A,189,80,80,A3,FF
2021-08-15T20:53:38.901Z,1629060818.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:38.901Z,1629060818.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:38.903Z,1629060818.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:39.340Z,1629060819.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:39.709Z,1629060819.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,378,000,009A0,189,80,80,AE,FF
2021-08-15T20:53:39.710Z,1629060819.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:40.155Z,1629060820.155 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205340.14*5B

2021-08-15T20:53:40.191Z,1629060820.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.339996 m, bearing: 65.989770 deg, deltaT: 4.364220 s, approachRate: 5.141811 m/s, LOS rate: 2.113986 deg/s, posRepo size: 3
2021-08-15T20:53:42.576Z,1629060822.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:42.949Z,1629060822.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:42.949Z,1629060822.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:42.949Z,1629060822.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:42.950Z,1629060822.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:43.373Z,1629060823.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
378,000,009A0,189,80,80,AE,FF
2021-08-15T20:53:43.373Z,1629060823.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:43.373Z,1629060823.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:43.375Z,1629060823.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:43.753Z,1629060823.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:44.161Z,1629060824.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E3,000,00989,189,80,80,8B,FF
2021-08-15T20:53:44.161Z,1629060824.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:44.585Z,1629060824.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205344.61*5D

2021-08-15T20:53:44.628Z,1629060824.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.959999 m, bearing: 59.600572 deg, deltaT: 4.529703 s, approachRate: -0.304655 m/s, LOS rate: -1.410511 deg/s, posRepo size: 4
2021-08-15T20:53:47.017Z,1629060827.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:47.389Z,1629060827.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:47.389Z,1629060827.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:47.389Z,1629060827.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:47.390Z,1629060827.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:47.789Z,1629060827.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E3,000,00989,189,80,80,8B,FF
2021-08-15T20:53:47.789Z,1629060827.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:47.789Z,1629060827.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:47.791Z,1629060827.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:48.197Z,1629060828.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:48.609Z,1629060828.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,131,000,00963,185,80,80,A1,FF
2021-08-15T20:53:48.610Z,1629060828.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:49.029Z,1629060829.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205349.03*54

2021-08-15T20:53:49.073Z,1629060829.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 66.845702 deg, deltaT: 4.409223 s, approachRate: -0.517098 m/s, LOS rate: 1.643176 deg/s, posRepo size: 4
2021-08-15T20:53:51.472Z,1629060831.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:51.832Z,1629060831.832 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:51.833Z,1629060831.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:51.833Z,1629060831.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:51.834Z,1629060831.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:52.246Z,1629060832.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
131,000,00963,185,80,80,A1,FF
2021-08-15T20:53:52.246Z,1629060832.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:52.246Z,1629060832.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:52.249Z,1629060832.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:52.267Z,1629060832.267 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T20:53:52.649Z,1629060832.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:53.053Z,1629060833.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00941,185,80,80,B5,FF
2021-08-15T20:53:53.053Z,1629060833.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:53.485Z,1629060833.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205353.49*51

2021-08-15T20:53:53.524Z,1629060833.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 67.784662 deg, deltaT: 4.404929 s, approachRate: -0.463116 m/s, LOS rate: 0.213161 deg/s, posRepo size: 4
2021-08-15T20:53:55.979Z,1629060835.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:53:56.293Z,1629060836.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:53:56.293Z,1629060836.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:53:56.293Z,1629060836.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:53:56.294Z,1629060836.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:53:56.689Z,1629060836.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00941,185,80,80,B5,FF
2021-08-15T20:53:56.690Z,1629060836.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:53:56.690Z,1629060836.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:53:56.691Z,1629060836.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:53:57.089Z,1629060837.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:53:57.489Z,1629060837.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,0091A,186,80,80,B4,FF
2021-08-15T20:53:57.490Z,1629060837.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:53:57.973Z,1629060837.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205357.93*52

2021-08-15T20:53:58.009Z,1629060838.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 65.625748 deg, deltaT: 4.495601 s, approachRate: -0.520510 m/s, LOS rate: -0.480228 deg/s, posRepo size: 4
2021-08-15T20:54:00.389Z,1629060840.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:00.733Z,1629060840.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:00.733Z,1629060840.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:00.734Z,1629060840.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:00.735Z,1629060840.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:01.125Z,1629060841.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,0091A,186,80,80,B4,FF
2021-08-15T20:54:01.125Z,1629060841.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:01.125Z,1629060841.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:01.127Z,1629060841.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:01.541Z,1629060841.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:01.985Z,1629060841.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,008F2,184,80,80,B0,FF
2021-08-15T20:54:01.985Z,1629060841.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:01.989Z,1629060841.989 [Micromodem](INFO): Nmea in: $SNTTA,0.066301,0.276431,,,205402.37*5C

2021-08-15T20:54:02.022Z,1629060842.022 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T20:54:02.430Z,1629060842.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.900002 m, bearing: 64.495270 deg, deltaT: 4.500641 s, approachRate: -0.533258 m/s, LOS rate: -0.251182 deg/s, posRepo size: 4
2021-08-15T20:54:04.790Z,1629060844.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:05.165Z,1629060845.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:05.165Z,1629060845.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:05.165Z,1629060845.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:05.166Z,1629060845.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:05.582Z,1629060845.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,008F2,184,80,80,B0,FF
2021-08-15T20:54:05.582Z,1629060845.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:05.582Z,1629060845.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:05.583Z,1629060845.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:05.987Z,1629060845.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:06.389Z,1629060846.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,008C9,187,80,80,9C,FF
2021-08-15T20:54:06.389Z,1629060846.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:06.818Z,1629060846.818 [Micromodem](INFO): Nmea in: $SNTTA,0.047064,,,,205406.82*4E

2021-08-15T20:54:06.834Z,1629060846.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 65.658479 deg, deltaT: 4.382626 s, approachRate: -0.561307 m/s, LOS rate: 0.265414 deg/s, posRepo size: 4
2021-08-15T20:54:09.242Z,1629060849.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:09.622Z,1629060849.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:09.622Z,1629060849.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:09.622Z,1629060849.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:09.623Z,1629060849.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:09.648Z,1629060849.648 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,008C9,187,80,80,9C,FF
2021-08-15T20:54:09.648Z,1629060849.648 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:09.648Z,1629060849.648 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:09.650Z,1629060849.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:10.026Z,1629060850.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:10.429Z,1629060850.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,008A4,187,80,80,A8,FF
2021-08-15T20:54:10.430Z,1629060850.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:10.843Z,1629060850.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205410.89*5D

2021-08-15T20:54:10.876Z,1629060850.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.220009 m, bearing: 66.338130 deg, deltaT: 4.050404 s, approachRate: -0.548092 m/s, LOS rate: 0.167798 deg/s, posRepo size: 4
2021-08-15T20:54:13.282Z,1629060853.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:13.650Z,1629060853.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:13.650Z,1629060853.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:13.651Z,1629060853.651 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:13.651Z,1629060853.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:14.057Z,1629060854.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,008A4,187,80,80,A8,FF
2021-08-15T20:54:14.057Z,1629060854.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:14.057Z,1629060854.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:14.059Z,1629060854.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:14.478Z,1629060854.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:14.861Z,1629060854.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,0087B,186,80,80,99,FF
2021-08-15T20:54:14.861Z,1629060854.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:15.326Z,1629060855.326 [Micromodem](INFO): Nmea in: $SNTTA,0.078211,,,,205415.30*49

2021-08-15T20:54:15.366Z,1629060855.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 67.536747 deg, deltaT: 4.406017 s, approachRate: -0.558331 m/s, LOS rate: 0.272041 deg/s, posRepo size: 4
2021-08-15T20:54:17.712Z,1629060857.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:18.101Z,1629060858.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:18.101Z,1629060858.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:18.102Z,1629060858.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:18.103Z,1629060858.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:18.497Z,1629060858.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,0087B,186,80,80,99,FF
2021-08-15T20:54:18.497Z,1629060858.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:18.497Z,1629060858.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:18.499Z,1629060858.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:18.905Z,1629060858.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:19.352Z,1629060859.352 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00855,187,80,80,A8,FF
2021-08-15T20:54:19.353Z,1629060859.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:19.745Z,1629060859.745 [Micromodem](INFO): Nmea in: $SNTTA,0.060066,,,,205419.74*4E

2021-08-15T20:54:19.768Z,1629060859.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.480011 m, bearing: 68.400479 deg, deltaT: 4.517809 s, approachRate: -0.504666 m/s, LOS rate: 0.191184 deg/s, posRepo size: 4
2021-08-15T20:54:22.147Z,1629060862.147 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T20:54:22.163Z,1629060862.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:22.541Z,1629060862.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:22.541Z,1629060862.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:22.541Z,1629060862.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:22.542Z,1629060862.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:22.941Z,1629060862.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00855,187,80,80,A8,FF
2021-08-15T20:54:22.941Z,1629060862.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:22.941Z,1629060862.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:22.943Z,1629060862.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:23.385Z,1629060863.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:24.174Z,1629060864.174 [Micromodem](INFO): Nmea in: $SNTTA,,0.406498,,,205424.18*4B

2021-08-15T20:54:25.007Z,1629060865.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:26.577Z,1629060866.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,A8,FF
2021-08-15T20:54:26.577Z,1629060866.577 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,A8,FF
2021-08-15T20:54:26.577Z,1629060866.577 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T20:54:27.807Z,1629060867.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:28.205Z,1629060868.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:28.205Z,1629060868.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:28.205Z,1629060868.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:28.206Z,1629060868.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:28.597Z,1629060868.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,A8,FF
2021-08-15T20:54:28.597Z,1629060868.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:28.597Z,1629060868.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:28.599Z,1629060868.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:29.015Z,1629060869.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:29.405Z,1629060869.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,007FA,187,80,80,B1,FF
2021-08-15T20:54:29.406Z,1629060869.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:29.865Z,1629060869.865 [Micromodem](INFO): Nmea in: $SNTTA,0.085562,,,,205429.84*48

2021-08-15T20:54:29.942Z,1629060869.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 69.562342 deg, deltaT: 10.045629 s, approachRate: -0.543521 m/s, LOS rate: 0.115659 deg/s, posRepo size: 4
2021-08-15T20:54:32.269Z,1629060872.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T20:54:32.290Z,1629060872.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:32.641Z,1629060872.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:32.641Z,1629060872.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:32.641Z,1629060872.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:32.642Z,1629060872.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:33.057Z,1629060873.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,007FA,187,80,80,B1,FF
2021-08-15T20:54:33.057Z,1629060873.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:33.058Z,1629060873.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:33.059Z,1629060873.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:33.448Z,1629060873.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:33.857Z,1629060873.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,007D2,186,80,80,C1,FF
2021-08-15T20:54:33.858Z,1629060873.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:34.277Z,1629060874.277 [Micromodem](INFO): Nmea in: $SNTTA,0.310006,0.310019,,,205434.30*57

2021-08-15T20:54:34.389Z,1629060874.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.620003 m, bearing: 70.651914 deg, deltaT: 4.465318 s, approachRate: -0.537476 m/s, LOS rate: 0.244008 deg/s, posRepo size: 4
2021-08-15T20:54:36.726Z,1629060876.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:37.081Z,1629060877.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:37.081Z,1629060877.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:37.082Z,1629060877.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:37.083Z,1629060877.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:37.494Z,1629060877.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,007D2,186,80,80,C1,FF
2021-08-15T20:54:37.494Z,1629060877.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:37.494Z,1629060877.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:37.496Z,1629060877.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:37.929Z,1629060877.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:38.306Z,1629060878.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA1,000,007AB,187,80,80,A4,FF
2021-08-15T20:54:38.307Z,1629060878.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:38.729Z,1629060878.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205438.74*55

2021-08-15T20:54:38.766Z,1629060878.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.279999 m, bearing: 69.407296 deg, deltaT: 4.429803 s, approachRate: -0.528241 m/s, LOS rate: -0.280965 deg/s, posRepo size: 4
2021-08-15T20:54:41.139Z,1629060881.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:41.525Z,1629060881.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:41.525Z,1629060881.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:41.525Z,1629060881.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:41.526Z,1629060881.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:41.981Z,1629060881.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA1,000,007AB,187,80,80,A4,FF
2021-08-15T20:54:41.981Z,1629060881.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:41.981Z,1629060881.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:41.983Z,1629060881.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:42.466Z,1629060882.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:42.861Z,1629060882.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,00782,186,80,80,C5,FF
2021-08-15T20:54:42.861Z,1629060882.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:43.305Z,1629060883.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205443.23*5B

2021-08-15T20:54:43.355Z,1629060883.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.820000 m, bearing: 71.010909 deg, deltaT: 4.553405 s, approachRate: -0.540255 m/s, LOS rate: 0.352179 deg/s, posRepo size: 4
2021-08-15T20:54:45.711Z,1629060885.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:46.097Z,1629060886.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:46.097Z,1629060886.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:46.097Z,1629060886.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:46.098Z,1629060886.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:46.501Z,1629060886.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,00782,186,80,80,C5,FF
2021-08-15T20:54:46.501Z,1629060886.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:46.501Z,1629060886.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:46.503Z,1629060886.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:46.922Z,1629060886.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:47.308Z,1629060887.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0075B,187,80,80,7D,FF
2021-08-15T20:54:47.310Z,1629060887.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:47.750Z,1629060887.750 [Micromodem](INFO): Nmea in: $SNTTA,0.080713,,,,205447.74*4E

2021-08-15T20:54:47.776Z,1629060887.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.479996 m, bearing: 71.263161 deg, deltaT: 4.469318 s, approachRate: -0.523571 m/s, LOS rate: 0.056441 deg/s, posRepo size: 4
2021-08-15T20:54:50.189Z,1629060890.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:50.537Z,1629060890.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:50.537Z,1629060890.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:50.537Z,1629060890.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:50.538Z,1629060890.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:50.941Z,1629060890.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0075B,187,80,80,7D,FF
2021-08-15T20:54:50.941Z,1629060890.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:50.941Z,1629060890.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:50.943Z,1629060890.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:51.373Z,1629060891.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:51.749Z,1629060891.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00734,186,80,80,A9,FF
2021-08-15T20:54:51.749Z,1629060891.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:52.185Z,1629060892.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205452.18*53

2021-08-15T20:54:52.216Z,1629060892.216 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T20:54:52.237Z,1629060892.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.140007 m, bearing: 71.515584 deg, deltaT: 4.410732 s, approachRate: -0.530522 m/s, LOS rate: 0.057229 deg/s, posRepo size: 4
2021-08-15T20:54:54.621Z,1629060894.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:54.981Z,1629060894.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:54.981Z,1629060894.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:54.981Z,1629060894.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:54.982Z,1629060894.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:55.389Z,1629060895.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00734,186,80,80,A9,FF
2021-08-15T20:54:55.389Z,1629060895.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:55.389Z,1629060895.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:55.391Z,1629060895.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:54:55.793Z,1629060895.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:54:56.205Z,1629060896.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,0070A,184,80,80,87,FF
2021-08-15T20:54:56.206Z,1629060896.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:54:56.637Z,1629060896.637 [Micromodem](INFO): Nmea in: $SNTTA,0.183747,,,,205456.63*4B

2021-08-15T20:54:56.663Z,1629060896.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.620003 m, bearing: 71.245908 deg, deltaT: 4.490195 s, approachRate: -0.561224 m/s, LOS rate: -0.060059 deg/s, posRepo size: 4
2021-08-15T20:54:59.039Z,1629060899.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T20:54:59.425Z,1629060899.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:54:59.425Z,1629060899.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:54:59.425Z,1629060899.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:54:59.426Z,1629060899.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:54:59.832Z,1629060899.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,0070A,184,80,80,87,FF
2021-08-15T20:54:59.832Z,1629060899.832 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:54:59.832Z,1629060899.832 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:54:59.834Z,1629060899.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:00.235Z,1629060900.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:00.645Z,1629060900.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,006E6,185,80,80,88,FF
2021-08-15T20:55:00.646Z,1629060900.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:01.081Z,1629060901.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205501.08*55

2021-08-15T20:55:01.103Z,1629060901.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 71.826215 deg, deltaT: 4.385636 s, approachRate: -0.492518 m/s, LOS rate: 0.132320 deg/s, posRepo size: 4
2021-08-15T20:55:03.491Z,1629060903.491 [lineCaptureDepth](INFO): Timed out from 2021-08-15T18:25:03.4Z
2021-08-15T20:55:03.491Z,1629060903.491 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-15T20:55:03.492Z,1629060903.492 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth] Stopped
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth:Science] Stopped
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth:Science:B] Stopped
2021-08-15T20:55:03.492Z,1629060903.492 [lineCaptureDepth:Science:C] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T20:55:03.493Z,1629060903.493 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:TrackAC.] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T20:55:03.494Z,1629060903.494 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T20:55:03.495Z,1629060903.495 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T20:55:03.496Z,1629060903.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:Lap] Stopped
2021-08-15T20:55:03.497Z,1629060903.497 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T20:55:03.498Z,1629060903.498 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T20:55:03.498Z,1629060903.498 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T20:55:03.693Z,1629060903.693 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-15T20:55:03.912Z,1629060903.912 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-15T20:55:03.912Z,1629060903.912 [DefaultWithUndock] Running Loop=1
2021-08-15T20:55:03.913Z,1629060903.913 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-15T20:55:03.913Z,1629060903.913 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-15T20:55:03.913Z,1629060903.913 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-15T20:55:34.179Z,1629060934.179 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-15T20:55:34.179Z,1629060934.179 [DefaultWithUndock:A.Wait] Stopped
2021-08-15T20:55:34.179Z,1629060934.179 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T20:55:34.180Z,1629060934.180 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-15T20:55:34.180Z,1629060934.180 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-15T20:55:34.180Z,1629060934.180 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-15T20:55:34.180Z,1629060934.180 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-15T20:55:34.181Z,1629060934.181 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-15T20:55:34.181Z,1629060934.181 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-15T20:55:34.181Z,1629060934.181 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T20:55:34.948Z,1629060934.948 [PowerOnly](INFO): Powering up loadControl
2021-08-15T20:55:37.017Z,1629060937.017 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:37.401Z,1629060937.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:37.401Z,1629060937.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:37.401Z,1629060937.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:37.402Z,1629060937.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:55:37.833Z,1629060937.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,006E6,185,80,80,88,FF
2021-08-15T20:55:37.833Z,1629060937.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:55:37.834Z,1629060937.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:55:37.835Z,1629060937.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:37.910Z,1629060937.910 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-15T20:55:38.216Z,1629060938.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:38.271Z,1629060938.271 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T20:55:38.619Z,1629060938.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00656,186,80,80,8E,FF
2021-08-15T20:55:38.619Z,1629060938.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:38.643Z,1629060938.643 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-15T20:55:39.034Z,1629060939.034 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205539.08*5E

2021-08-15T20:55:39.068Z,1629060939.068 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T20:55:41.469Z,1629060941.469 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:41.847Z,1629060941.847 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:41.864Z,1629060941.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:41.865Z,1629060941.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:41.866Z,1629060941.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:55:42.253Z,1629060942.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00656,186,80,80,8E,FF
2021-08-15T20:55:42.253Z,1629060942.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:55:42.253Z,1629060942.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:55:42.255Z,1629060942.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:42.661Z,1629060942.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:43.057Z,1629060943.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,00653,186,80,80,80,FF
2021-08-15T20:55:43.057Z,1629060943.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:43.490Z,1629060943.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205543.50*5E

2021-08-15T20:55:45.951Z,1629060945.951 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:46.312Z,1629060946.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:46.313Z,1629060946.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:46.313Z,1629060946.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:46.315Z,1629060946.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:55:46.693Z,1629060946.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,00653,186,80,80,80,FF
2021-08-15T20:55:46.693Z,1629060946.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:55:46.693Z,1629060946.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:55:46.695Z,1629060946.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:47.101Z,1629060947.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:47.501Z,1629060947.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,00652,186,80,80,7B,FF
2021-08-15T20:55:47.501Z,1629060947.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:47.957Z,1629060947.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205547.94*52

2021-08-15T20:55:50.373Z,1629060950.373 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:50.741Z,1629060950.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:50.741Z,1629060950.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:50.742Z,1629060950.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:50.742Z,1629060950.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:55:51.137Z,1629060951.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,00652,186,80,80,7B,FF
2021-08-15T20:55:51.137Z,1629060951.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:55:51.137Z,1629060951.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:55:51.139Z,1629060951.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:51.545Z,1629060951.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:51.961Z,1629060951.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12A,000,00655,185,80,80,97,FF
2021-08-15T20:55:51.964Z,1629060951.964 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:52.389Z,1629060952.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205552.38*50

2021-08-15T20:55:54.786Z,1629060954.786 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:55.185Z,1629060955.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:55.185Z,1629060955.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:55.186Z,1629060955.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:55.187Z,1629060955.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:55:55.581Z,1629060955.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12A,000,00655,185,80,80,97,FF
2021-08-15T20:55:55.581Z,1629060955.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:55:55.581Z,1629060955.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:55:55.583Z,1629060955.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:55:55.988Z,1629060955.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:55:56.398Z,1629060956.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,00653,186,80,80,A9,FF
2021-08-15T20:55:56.398Z,1629060956.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:55:56.818Z,1629060956.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,205556.82*55

2021-08-15T20:55:59.229Z,1629060959.229 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 59.64 m. Transitioning DDM to standby.
2021-08-15T20:55:59.230Z,1629060959.230 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T20:55:59.625Z,1629060959.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T20:55:59.626Z,1629060959.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T20:55:59.626Z,1629060959.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T20:55:59.627Z,1629060959.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T20:56:00.025Z,1629060960.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,00653,186,80,80,A9,FF
2021-08-15T20:56:00.025Z,1629060960.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T20:56:00.025Z,1629060960.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T20:56:00.027Z,1629060960.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T20:56:00.433Z,1629060960.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T20:56:00.842Z,1629060960.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,00659,186,80,80,8D,FF
2021-08-15T20:56:00.842Z,1629060960.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T20:56:01.257Z,1629060961.257 [Micromodem](INFO): Nmea in: $SNTTA,0.041663,,,,205601.27*43

2021-08-15T20:56:02.119Z,1629060962.119 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-15T20:56:02.499Z,1629060962.499 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T20:56:02.499Z,1629060962.499 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-15T20:56:02.500Z,1629060962.500 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-15T20:56:02.500Z,1629060962.500 [DefaultWithUndock:LeaveDock] Stopped
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-15T20:56:02.501Z,1629060962.501 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-15T20:56:02.502Z,1629060962.502 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-15T20:56:02.502Z,1629060962.502 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-15T20:56:02.502Z,1629060962.502 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-15T20:56:02.502Z,1629060962.502 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-15T20:56:02.503Z,1629060962.503 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-15T20:56:02.503Z,1629060962.503 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-15T20:56:03.380Z,1629060963.380 [Radio_Surface](INFO): Powering up
2021-08-15T20:56:09.185Z,1629060969.185 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T20:56:32.761Z,1629060992.761 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-15T20:56:32.761Z,1629060992.761 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T20:56:32.762Z,1629060992.762 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T20:56:32.762Z,1629060992.762 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-15T20:56:32.762Z,1629060992.762 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T20:56:32.762Z,1629060992.762 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-15T20:56:32.762Z,1629060992.762 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-15T20:56:39.304Z,1629060999.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T20:56:59.789Z,1629061019.789 [NAL9602](INFO): SBD MO Status=2, MOMSN=24083, MT Status=2, MTMSN=0
2021-08-15T20:56:59.789Z,1629061019.789 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T20:57:06.253Z,1629061026.253 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:57:06.656Z,1629061026.656 [PowerOnly](FAULT): loadControl LCB fault:  Software Overcurrent.
2021-08-15T20:57:06.656Z,1629061026.656 [PowerOnly] Hardware Fault, FailCount= 1
2021-08-15T20:57:06.656Z,1629061026.656 [PowerOnly](ERROR): Hardware Fault
2021-08-15T20:57:06.717Z,1629061026.717 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2021-08-15T20:57:07.062Z,1629061027.062 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:57:07.465Z,1629061027.465 [PowerOnly](FAULT): loadControl LCB fault:  Software Overcurrent.
2021-08-15T20:57:07.910Z,1629061027.910 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:57:08.271Z,1629061028.271 [PowerOnly](FAULT): loadControl LCB fault:  Software Overcurrent.
2021-08-15T20:57:08.694Z,1629061028.694 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:57:09.553Z,1629061029.553 [CBIT](INFO): Clearing failed state for component PowerOnly
2021-08-15T20:57:09.553Z,1629061029.553 [PowerOnly] No Fault, FailCount= 1
2021-08-15T20:57:11.103Z,1629061031.103 [PowerOnly](INFO): Powering down loadControl
2021-08-15T20:57:14.452Z,1629061034.452 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T20:57:15.546Z,1629061035.546 [NAL9602](INFO): SBD MO Status=0, MOMSN=24083, MT Status=0, MTMSN=0
2021-08-15T20:57:15.546Z,1629061035.546 [NAL9602](INFO): No messages in MT queue
2021-08-15T20:57:16.760Z,1629061036.760 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,205718.00,A,4133.17290,N,07042.47191,W,0.622,353.64,150821,,,A*78
2021-08-15T20:57:16.762Z,1629061036.762 [NAL9602](INFO): GPS fix at 20210815T205718: (41.552882, -70.707865)
2021-08-15T20:57:16.773Z,1629061036.773 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T20:57:16.774Z,1629061036.774 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T20:57:36.329Z,1629061056.329 [NAL9602](INFO): SBD MO Status=1, MOMSN=24084, MT Status=0, MTMSN=0
2021-08-15T20:57:36.388Z,1629061056.388 [NAL9602](INFO): Sent 77 bytes from file Logs/20210815T181729/Courier0039.lzma
2021-08-15T20:57:36.388Z,1629061056.388 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:57:49.616Z,1629061069.616 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T20:57:51.012Z,1629061071.012 [NAL9602](INFO): SBD MO Status=1, MOMSN=24085, MT Status=0, MTMSN=0
2021-08-15T20:57:51.065Z,1629061071.065 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:57:51.066Z,1629061071.066 [NAL9602](INFO): Packets left to send: 5
2021-08-15T20:58:02.843Z,1629061082.843 [NAL9602](INFO): SBD MO Status=1, MOMSN=24086, MT Status=0, MTMSN=0
2021-08-15T20:58:02.892Z,1629061082.892 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:58:02.892Z,1629061082.892 [NAL9602](INFO): Packets left to send: 4
2021-08-15T20:58:14.080Z,1629061094.080 [NAL9602](INFO): SBD MO Status=1, MOMSN=24087, MT Status=0, MTMSN=0
2021-08-15T20:58:14.140Z,1629061094.140 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:58:14.140Z,1629061094.140 [NAL9602](INFO): Packets left to send: 3
2021-08-15T20:58:24.764Z,1629061104.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T20:58:24.936Z,1629061104.936 [NAL9602](INFO): SBD MO Status=1, MOMSN=24088, MT Status=0, MTMSN=0
2021-08-15T20:58:24.984Z,1629061104.984 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:58:24.984Z,1629061104.984 [NAL9602](INFO): Packets left to send: 2
2021-08-15T20:58:36.036Z,1629061116.036 [NAL9602](INFO): SBD MO Status=1, MOMSN=24089, MT Status=0, MTMSN=0
2021-08-15T20:58:36.086Z,1629061116.086 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:58:36.087Z,1629061116.087 [NAL9602](INFO): Packets left to send: 1
2021-08-15T20:58:47.635Z,1629061127.635 [NAL9602](INFO): SBD MO Status=1, MOMSN=24090, MT Status=0, MTMSN=0
2021-08-15T20:58:47.688Z,1629061127.688 [NAL9602](INFO): Sent 3 bytes from file Logs/20210815T181729/Express0007.lzma
2021-08-15T20:58:47.688Z,1629061127.688 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:58:58.618Z,1629061138.618 [NAL9602](INFO): SBD MO Status=1, MOMSN=24091, MT Status=0, MTMSN=0
2021-08-15T20:58:58.684Z,1629061138.684 [NAL9602](INFO): Sent 114 bytes from file Logs/20210815T181729/Express0013.lzma
2021-08-15T20:58:58.684Z,1629061138.684 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:58:59.905Z,1629061139.905 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T20:59:07.608Z,1629061147.608 [NAL9602](INFO): SBD MO Status=1, MOMSN=24092, MT Status=0, MTMSN=0
2021-08-15T20:59:07.664Z,1629061147.664 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0016.lzma
2021-08-15T20:59:07.664Z,1629061147.664 [NAL9602](INFO): Packets left to send: 2
2021-08-15T20:59:15.313Z,1629061155.313 [NAL9602](INFO): SBD MO Status=1, MOMSN=24093, MT Status=0, MTMSN=0
2021-08-15T20:59:15.364Z,1629061155.364 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0016.lzma
2021-08-15T20:59:15.364Z,1629061155.364 [NAL9602](INFO): Packets left to send: 1
2021-08-15T20:59:23.730Z,1629061163.730 [NAL9602](INFO): SBD MO Status=1, MOMSN=24094, MT Status=0, MTMSN=0
2021-08-15T20:59:23.780Z,1629061163.780 [NAL9602](INFO): Sent 103 bytes from file Logs/20210815T181729/Express0016.lzma
2021-08-15T20:59:23.780Z,1629061163.780 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:59:32.268Z,1629061172.268 [NAL9602](INFO): SBD MO Status=1, MOMSN=24095, MT Status=0, MTMSN=0
2021-08-15T20:59:32.316Z,1629061172.316 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0019.lzma
2021-08-15T20:59:32.316Z,1629061172.316 [NAL9602](INFO): Packets left to send: 1
2021-08-15T20:59:38.248Z,1629061178.248 [NAL9602](INFO): SBD MO Status=1, MOMSN=24096, MT Status=0, MTMSN=0
2021-08-15T20:59:38.296Z,1629061178.296 [NAL9602](INFO): Sent 23 bytes from file Logs/20210815T181729/Express0019.lzma
2021-08-15T20:59:38.296Z,1629061178.296 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:59:47.956Z,1629061187.956 [NAL9602](INFO): SBD MO Status=1, MOMSN=24097, MT Status=0, MTMSN=0
2021-08-15T20:59:48.004Z,1629061188.004 [NAL9602](INFO): Sent 85 bytes from file Logs/20210815T181729/Express0022.lzma
2021-08-15T20:59:48.004Z,1629061188.004 [NAL9602](INFO): Packets left to send: 0
2021-08-15T20:59:57.676Z,1629061197.676 [NAL9602](INFO): SBD MO Status=1, MOMSN=24098, MT Status=0, MTMSN=0
2021-08-15T20:59:57.723Z,1629061197.723 [NAL9602](INFO): Sent 157 bytes from file Logs/20210815T181729/Express0025.lzma
2021-08-15T20:59:57.723Z,1629061197.723 [NAL9602](INFO): Packets left to send: 0
2021-08-15T21:00:03.168Z,1629061203.168 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003105
2021-08-15T21:00:06.620Z,1629061206.620 [NAL9602](INFO): SBD MO Status=1, MOMSN=24099, MT Status=0, MTMSN=0
2021-08-15T21:00:06.676Z,1629061206.676 [NAL9602](INFO): Sent 182 bytes from file Logs/20210815T181729/Express0028.lzma
2021-08-15T21:00:06.676Z,1629061206.676 [NAL9602](INFO): Packets left to send: 0
2021-08-15T21:00:12.204Z,1629061212.204 [DataOverHttps](INFO): Sending 148 bytes from file Logs/20210815T181729/Express0031.lzma
2021-08-15T21:00:13.206Z,1629061213.206 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Express0031.lzma.bak
2021-08-15T21:00:13.206Z,1629061213.206 [DataOverHttps](INFO): SBD MOMSN=444115
2021-08-15T21:00:37.335Z,1629061237.335 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T21:00:41.336Z,1629061241.336 [DataOverHttps](INFO): Sending 170 bytes from file Logs/20210815T181729/Express0034.lzma
2021-08-15T21:00:43.347Z,1629061243.347 [DataOverHttps](INFO): Moved sent file to Logs/20210815T181729/Express0034.lzma.bak
2021-08-15T21:00:43.347Z,1629061243.347 [DataOverHttps](INFO): SBD MOMSN=444124
2021-08-15T21:02:02.665Z,1629061322.665 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.248234
2021-08-15T21:02:38.395Z,1629061358.395 [NAL9602](INFO): SBD MO Status=2, MOMSN=24100, MT Status=2, MTMSN=0
2021-08-15T21:02:38.404Z,1629061358.404 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-08-15T21:02:52.558Z,1629061372.558 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T21:02:56.196Z,1629061376.196 [NAL9602](INFO): SBD MO Status=1, MOMSN=24100, MT Status=0, MTMSN=0
2021-08-15T21:02:56.256Z,1629061376.256 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0037.lzma
2021-08-15T21:02:56.256Z,1629061376.256 [NAL9602](INFO): Packets left to send: 1
2021-08-15T21:03:05.362Z,1629061385.362 [NAL9602](INFO): SBD MO Status=1, MOMSN=24101, MT Status=0, MTMSN=0
2021-08-15T21:03:05.414Z,1629061385.414 [NAL9602](INFO): Sent 37 bytes from file Logs/20210815T181729/Express0037.lzma
2021-08-15T21:03:05.415Z,1629061385.415 [NAL9602](INFO): Packets left to send: 0
2021-08-15T21:03:08.936Z,1629061388.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T21:03:24.709Z,1629061404.709 [NAL9602](INFO): SBD MO Status=1, MOMSN=24102, MT Status=0, MTMSN=0
2021-08-15T21:03:24.756Z,1629061404.756 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0040.lzma
2021-08-15T21:03:24.756Z,1629061404.756 [NAL9602](INFO): Packets left to send: 2
2021-08-15T21:03:31.728Z,1629061411.728 [NAL9602](INFO): SBD MO Status=1, MOMSN=24103, MT Status=0, MTMSN=0
2021-08-15T21:03:31.788Z,1629061411.788 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T181729/Express0040.lzma
2021-08-15T21:03:31.788Z,1629061411.788 [NAL9602](INFO): Packets left to send: 1
2021-08-15T21:03:40.616Z,1629061420.616 [NAL9602](INFO): SBD MO Status=1, MOMSN=24104, MT Status=0, MTMSN=0
2021-08-15T21:03:40.664Z,1629061420.664 [NAL9602](INFO): Sent 164 bytes from file Logs/20210815T181729/Express0040.lzma
2021-08-15T21:03:40.664Z,1629061420.664 [NAL9602](INFO): Packets left to send: 0
2021-08-15T21:03:42.072Z,1629061422.072 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003135
2021-08-15T21:03:43.976Z,1629061423.976 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T21:03:43.976Z,1629061423.976 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T21:03:43.976Z,1629061423.976 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T21:03:47.169Z,1629061427.169 [NAL9602](INFO): SBD MO Status=0, MOMSN=24105, MT Status=0, MTMSN=0
2021-08-15T21:04:17.908Z,1629061457.908 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T21:04:50.623Z,1629061490.623 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T21:04:50.624Z,1629061490.624 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T21:04:50.626Z,1629061490.626 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T21:04:51.012Z,1629061491.012 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815210451.022307,06,137,21,0093,0150,134,01,01,00,01,-1,-01,-01,1,3,1,0,150,-100.0,-0.07,-100,3.07,-01,-1.89,-2147483648,14500,4000*74

2021-08-15T21:05:25.500Z,1629061525.500 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251247
2021-08-15T21:05:36.546Z,1629061536.546 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T210538
2021-08-15T21:05:36.550Z,1629061536.550 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003960
2021-08-15T21:05:41.568Z,1629061541.568 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tmkx 1 2
2021-08-15T21:05:41.593Z,1629061541.593 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" 2tmkx 1 2.000000
2021-08-15T21:05:41.594Z,1629061541.594 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2tmkx
2021-08-15T21:05:41.595Z,1629061541.595 [CommandLine](IMPORTANT): Scheduled #33 (#1 of 2 with id='2tmkx'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 150 min;set lineCaptureDepth.MicromodemCommsInterval 30 min;set lineCaptureDepth.Repeat 20 count;set lineCaptureDepth.MinAltitude 3 m" ASAP
2021-08-15T21:05:43.574Z,1629061543.574 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T210544
2021-08-15T21:05:51.624Z,1629061551.624 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tmkx 2 2
2021-08-15T21:05:51.689Z,1629061551.689 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2tmkx 2 2.000000
2021-08-15T21:05:51.690Z,1629061551.690 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2tmkx
2021-08-15T21:05:51.690Z,1629061551.690 [CommandLine](IMPORTANT): Scheduled #34 (#2 of 2 with id='2tmkx'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-15T21:05:51.757Z,1629061551.757 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T21:05:51.757Z,1629061551.757 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T21:05:51.915Z,1629061551.915 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-15T21:05:51.918Z,1629061551.918 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-15T21:05:51.920Z,1629061551.920 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-15T21:05:51.922Z,1629061551.922 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-15T21:05:51.925Z,1629061551.925 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-15T21:05:51.928Z,1629061551.928 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-15T21:05:51.930Z,1629061551.930 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-15T21:05:51.933Z,1629061551.933 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-15T21:05:51.935Z,1629061551.935 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-15T21:05:51.937Z,1629061551.937 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-15T21:05:51.940Z,1629061551.940 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-15T21:05:51.942Z,1629061551.942 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-15T21:05:51.945Z,1629061551.945 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-15T21:05:51.947Z,1629061551.947 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-15T21:05:51.950Z,1629061551.950 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-15T21:05:51.951Z,1629061551.951 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-15T21:05:52.376Z,1629061552.376 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-15T21:05:52.378Z,1629061552.378 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-15T21:05:52.380Z,1629061552.380 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-15T21:05:52.382Z,1629061552.382 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-15T21:05:52.384Z,1629061552.384 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-15T21:05:52.386Z,1629061552.386 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-15T21:05:52.452Z,1629061552.452 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-15T21:05:52.470Z,1629061552.470 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-15T21:05:52.472Z,1629061552.472 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-15T21:05:52.474Z,1629061552.474 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-15T21:05:52.476Z,1629061552.476 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-15T21:05:52.478Z,1629061552.478 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-15T21:05:52.488Z,1629061552.488 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-15T21:05:52.490Z,1629061552.490 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-15T21:05:52.497Z,1629061552.497 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-15T21:05:52.516Z,1629061552.516 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-15T21:05:52.519Z,1629061552.519 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-15T21:05:52.530Z,1629061552.530 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-15T21:05:52.559Z,1629061552.559 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-15T21:05:52.567Z,1629061552.567 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-15T21:05:52.580Z,1629061552.580 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-15T21:05:52.582Z,1629061552.582 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-15T21:05:52.589Z,1629061552.589 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-15T21:05:52.596Z,1629061552.596 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-15T21:05:52.598Z,1629061552.598 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-15T21:05:52.605Z,1629061552.605 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-15T21:05:52.607Z,1629061552.607 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-15T21:05:52.620Z,1629061552.620 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-15T21:05:52.623Z,1629061552.623 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-15T21:05:52.625Z,1629061552.625 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T210554
2021-08-15T21:05:52.634Z,1629061552.634 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-15T21:05:52.640Z,1629061552.640 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-15T21:05:52.643Z,1629061552.643 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-15T21:05:52.650Z,1629061552.650 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-15T21:05:52.660Z,1629061552.660 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-15T21:05:52.663Z,1629061552.663 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-15T21:05:52.677Z,1629061552.677 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-15T21:05:52.679Z,1629061552.679 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-15T21:05:52.690Z,1629061552.690 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-15T21:05:52.696Z,1629061552.696 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-15T21:05:52.699Z,1629061552.699 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-15T21:05:52.706Z,1629061552.706 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-15T21:05:52.712Z,1629061552.712 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-15T21:05:52.715Z,1629061552.715 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-15T21:05:52.726Z,1629061552.726 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-15T21:05:52.733Z,1629061552.733 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-15T21:05:52.735Z,1629061552.735 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-15T21:05:52.746Z,1629061552.746 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-15T21:05:52.753Z,1629061552.753 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-15T21:05:52.755Z,1629061552.755 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-15T21:05:52.762Z,1629061552.762 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-15T21:05:52.769Z,1629061552.769 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-15T21:05:52.771Z,1629061552.771 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-15T21:05:52.778Z,1629061552.778 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-15T21:05:52.785Z,1629061552.785 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-15T21:05:52.787Z,1629061552.787 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-15T21:05:52.830Z,1629061552.830 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-15T21:05:52.837Z,1629061552.837 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-15T21:05:52.856Z,1629061552.856 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-15T21:05:52.859Z,1629061552.859 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-15T21:05:52.865Z,1629061552.865 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-15T21:05:52.872Z,1629061552.872 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-15T21:05:52.875Z,1629061552.875 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-15T21:05:52.881Z,1629061552.881 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-15T21:05:52.888Z,1629061552.888 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-15T21:05:52.923Z,1629061552.923 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T21:05:52.957Z,1629061552.957 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T21:05:53.009Z,1629061553.009 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T21:05:53.033Z,1629061553.033 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T21:05:53.061Z,1629061553.061 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T21:05:53.090Z,1629061553.090 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T21:05:53.121Z,1629061553.121 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T21:05:53.146Z,1629061553.146 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T21:05:53.170Z,1629061553.170 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T21:05:53.239Z,1629061553.239 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T21:05:53.253Z,1629061553.253 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T21:05:53.261Z,1629061553.261 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T21:05:53.263Z,1629061553.263 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T21:05:53.285Z,1629061553.285 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T21:05:53.300Z,1629061553.300 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T21:05:53.314Z,1629061553.314 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-15T21:05:53.401Z,1629061553.401 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-15T21:05:53.412Z,1629061553.412 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-15T21:05:53.414Z,1629061553.414 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-15T21:05:53.417Z,1629061553.417 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-15T21:05:53.428Z,1629061553.428 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-15T21:05:53.430Z,1629061553.430 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-15T21:05:53.433Z,1629061553.433 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-15T21:05:53.451Z,1629061553.451 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-15T21:05:53.496Z,1629061553.496 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-15T21:05:53.511Z,1629061553.511 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-15T21:05:53.513Z,1629061553.513 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-15T21:05:53.518Z,1629061553.518 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-15T21:05:53.530Z,1629061553.530 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-15T21:05:53.807Z,1629061553.807 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-15T21:05:53.820Z,1629061553.820 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-15T21:05:53.822Z,1629061553.822 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-15T21:05:53.826Z,1629061553.826 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-15T21:05:53.828Z,1629061553.828 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-15T21:05:53.831Z,1629061553.831 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-15T21:05:53.842Z,1629061553.842 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-15T21:05:53.850Z,1629061553.850 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-15T21:05:53.858Z,1629061553.858 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-15T21:05:53.895Z,1629061553.895 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-15T21:05:53.905Z,1629061553.905 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-15T21:05:53.907Z,1629061553.907 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-15T21:05:53.910Z,1629061553.910 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-15T21:05:53.916Z,1629061553.916 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-15T21:05:53.919Z,1629061553.919 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-15T21:05:53.925Z,1629061553.925 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-15T21:05:53.932Z,1629061553.932 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-15T21:05:53.935Z,1629061553.935 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-15T21:05:53.939Z,1629061553.939 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-15T21:05:53.954Z,1629061553.954 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-15T21:05:53.961Z,1629061553.961 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-15T21:05:53.963Z,1629061553.963 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-15T21:05:53.970Z,1629061553.970 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-15T21:05:53.974Z,1629061553.974 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-15T21:05:53.989Z,1629061553.989 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-15T21:05:53.991Z,1629061553.991 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-15T21:05:54.044Z,1629061554.044 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T21:05:54.093Z,1629061554.093 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T21:05:54.108Z,1629061554.108 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T21:05:54.111Z,1629061554.111 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T21:05:54.124Z,1629061554.124 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T21:05:54.142Z,1629061554.142 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T21:05:54.150Z,1629061554.150 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T21:05:54.198Z,1629061554.198 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-15T21:05:54.202Z,1629061554.202 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-15T21:05:54.221Z,1629061554.221 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-15T21:05:54.221Z,1629061554.221 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T21:05:54.264Z,1629061554.264 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-15T21:05:54.267Z,1629061554.267 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-15T21:05:54.284Z,1629061554.284 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-15T21:05:54.308Z,1629061554.308 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-15T21:05:54.318Z,1629061554.318 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-15T21:05:54.339Z,1629061554.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-15T21:05:54.347Z,1629061554.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-15T21:05:54.356Z,1629061554.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T21:05:54.356Z,1629061554.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T21:05:54.360Z,1629061554.360 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-15T21:05:54.380Z,1629061554.380 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-15T21:05:54.450Z,1629061554.450 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-15T21:05:54.457Z,1629061554.457 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-15T21:05:54.459Z,1629061554.459 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-15T21:05:54.485Z,1629061554.485 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-15T21:05:54.494Z,1629061554.494 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-15T21:05:54.555Z,1629061554.555 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-15T21:05:54.555Z,1629061554.555 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T21:05:54.563Z,1629061554.563 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-15T21:05:54.563Z,1629061554.563 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T21:05:54.619Z,1629061554.619 [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>


2021-08-15T21:05:54.619Z,1629061554.619 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T21:05:57.647Z,1629061557.647 [DataOverHttps](INFO): Received command:restart logs
2021-08-15T21:05:59.287Z,1629061559.287 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T21:05:59.288Z,1629061559.288 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T21:05:59.290Z,1629061559.290 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T21:05:59.682Z,1629061559.682 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815210559.022636,06,315,18,0226,0150,82,01,01,01,01,-1,-01,-01,1,3,7,0,150,64.8,-25.43,-100,28.43,-01,0.00,-6,14500,4000*43